Pith Number

pith:QOCW3QVT

pith:2021:QOCW3QVTIONEEXUPL2F7XQFUZN

not attested not anchored not stored refs pending

Fast and Feature-Complete Differentiable Physics for Articulated Rigid Bodies with Contact

C. Karen Liu, Dalton Omens, Ioannis Exarchos, Jeongseok Lee, Keenon Werling

arxiv:2103.16021 v3 · 2021-03-30 · cs.RO · cs.AI · cs.LG · 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{QOCW3QVTIONEEXUPL2F7XQFUZN}

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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

2 papers in Pith

Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

Does "Do Differentiable Simulators Give Better Policy Gradients?'' Give Better Policy Gradients?

Receipt and verification

First computed	2026-07-05T02:51:39.798848Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

83856dc2b3439a425e8f5e8bfbc0b4cb5f67694cb2987d27d5d78893a3df857c

Aliases

arxiv: 2103.16021 · arxiv_version: 2103.16021v3 · doi: 10.48550/arxiv.2103.16021 · pith_short_12: QOCW3QVTIONE · pith_short_16: QOCW3QVTIONEEXUP · pith_short_8: QOCW3QVT

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/QOCW3QVTIONEEXUPL2F7XQFUZN \
  | 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: 83856dc2b3439a425e8f5e8bfbc0b4cb5f67694cb2987d27d5d78893a3df857c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "42a03a0d17b9a0826034f584dc3c08b4ffdfe1a1057261e09b0b8fc4dc85049a",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-30T01:48:29Z",
    "title_canon_sha256": "86ad29286d8901c0594bf104fd0430fdd717df21187cc99f812fad3577461bac"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.16021",
    "kind": "arxiv",
    "version": 3
  }
}