Pith Number

pith:RNJ6QTFX

pith:2024:RNJ6QTFXXAFTQB77JBWBX3HA7Q

not attested not anchored not stored refs pending

Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation

Guanqi He, Guanya Shi, Jiahe Xu, Junyi Geng, Mohammadreza Mousaei, Sebastian Scherer, Xiaofeng Guo

arxiv:2407.05587 v2 · 2024-07-08 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{RNJ6QTFXXAFTQB77JBWBX3HA7Q}

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	2026-07-05T10:49:07.079233Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8b53e84cb7b80b3807ff486c1bece0fc0146eeb8c22cae0a7f19b3877457c471

Aliases

arxiv: 2407.05587 · arxiv_version: 2407.05587v2 · doi: 10.48550/arxiv.2407.05587 · pith_short_12: RNJ6QTFXXAFT · pith_short_16: RNJ6QTFXXAFTQB77 · pith_short_8: RNJ6QTFX

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/RNJ6QTFXXAFTQB77JBWBX3HA7Q \
  | 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: 8b53e84cb7b80b3807ff486c1bece0fc0146eeb8c22cae0a7f19b3877457c471

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bbc561f654c6e50e1b56d37528f0f4a68c3d6e7a3e1f5003b45283fb10b55e9c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-07-08T03:49:33Z",
    "title_canon_sha256": "d196ca49cef3fc7bd698f1942077c1cd745f0f631a066caf505308a9647d644c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2407.05587",
    "kind": "arxiv",
    "version": 2
  }
}