Pith Number

pith:QBHBW6OU

pith:2023:QBHBW6OUMEH6AJTVCKLX2DJEFY

not attested not anchored not stored refs pending

Achieving Autonomous Cloth Manipulation with Optimal Control via Differentiable Physics-Aware Regularization and Safety Constraints

Fei Liu, Michael Yip, Xiao Liang, Yutong Zhang

arxiv:2309.11655 v1 · 2023-09-20 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{QBHBW6OUMEH6AJTVCKLX2DJEFY}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

1 paper in Pith

Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation

Receipt and verification

First computed	2026-07-05T06:52:52.686232Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

804e1b79d4610fe0267512977d0d242e3209bfe27bc9c6ec8ec697a37e68499c

Aliases

arxiv: 2309.11655 · arxiv_version: 2309.11655v1 · doi: 10.48550/arxiv.2309.11655 · pith_short_12: QBHBW6OUMEH6 · pith_short_16: QBHBW6OUMEH6AJTV · pith_short_8: QBHBW6OU

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/QBHBW6OUMEH6AJTVCKLX2DJEFY \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 804e1b79d4610fe0267512977d0d242e3209bfe27bc9c6ec8ec697a37e68499c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7c5bef82ca454c48cb4dbf63cab67970804fef42114715e5619b2639b4886102",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-20T21:41:01Z",
    "title_canon_sha256": "e05c90a8183edc686d83a792ecb4cf2859a2b2a6509def82653069d043d36888"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.11655",
    "kind": "arxiv",
    "version": 1
  }
}