Pith Number

pith:RZ6KJHVT

pith:2024:RZ6KJHVTMJXK2J27A36BH4MGSM

not attested not anchored not stored refs pending

From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators

Erwin Aertbeli\"en, Johan Ubbink, Joris De Schutter, Ruan Viljoen, Wilm Decr\'e

arxiv:2412.01597 v1 · 2024-12-02 · 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{RZ6KJHVTMJXK2J27A36BH4MGSM}

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	2026-07-05T09:45:17.027663Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8e7ca49eb3626ead275f06fc13f186930b658c2a95f941722684642c297de9a2

Aliases

arxiv: 2412.01597 · arxiv_version: 2412.01597v1 · doi: 10.48550/arxiv.2412.01597 · pith_short_12: RZ6KJHVTMJXK · pith_short_16: RZ6KJHVTMJXK2J27 · pith_short_8: RZ6KJHVT

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/RZ6KJHVTMJXK2J27A36BH4MGSM \
  | 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: 8e7ca49eb3626ead275f06fc13f186930b658c2a95f941722684642c297de9a2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c6841aad2d216c1f339972f7ac87f56313105516501498e354937188b9e81fc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-02T15:16:06Z",
    "title_canon_sha256": "f49c5a5955dc0d93698d3c9d3040dc22592f4dfa3718d0cfa4ee829912835763"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.01597",
    "kind": "arxiv",
    "version": 1
  }
}