Pith Number

pith:QH3OY5K6

pith:2025:QH3OY5K6MIUB7M7SB5TQ4MSR7D

not attested not anchored not stored refs pending

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

Arvind Kruthiventy, Jongeun Choi, Joohwan Seo, Megan Teng, Nikhil Potu Surya Prakash, Roberto Horowitz, Soomi Lee

arxiv:2504.17080 v3 · 2025-04-23 · 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{QH3OY5K6MIUB7M7SB5TQ4MSR7D}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

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.

Receipt and verification

First computed	2026-06-10T01:10:56.171796Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

81f6ec755e62281fb3f20f670e3251f8dda765e02550dde5ed5c12293e741615

Aliases

arxiv: 2504.17080 · arxiv_version: 2504.17080v3 · doi: 10.48550/arxiv.2504.17080 · pith_short_12: QH3OY5K6MIUB · pith_short_16: QH3OY5K6MIUB7M7S · pith_short_8: QH3OY5K6

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/QH3OY5K6MIUB7M7SB5TQ4MSR7D \
  | 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: 81f6ec755e62281fb3f20f670e3251f8dda765e02550dde5ed5c12293e741615

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "89636c7523d0883ca03f2dedf0af3a797986390679cc695cb8fa3de59b333381",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-23T20:06:09Z",
    "title_canon_sha256": "12078979fd116bf0b43cb97fddb3feb2ee04f19d8ea99e8c448574a51a478591"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.17080",
    "kind": "arxiv",
    "version": 3
  }
}