Pith Number

pith:S2DZB32D

pith:2015:S2DZB32DINCMOC5WX77EVZPAR7

not attested not anchored not stored refs pending

Evaluating direct transcription and nonlinear optimization methods for robot motion planning

Alexander W. Winkler, Diego Pardo, Jonas Buchli, Lukas M\"oller, Michael Neunert

arxiv:1504.05803 v2 · 2015-04-22 · math.OC · 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{S2DZB32DINCMOC5WX77EVZPAR7}

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	2026-05-18T01:19:57.465419Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

968790ef434344c70bb6bffe4ae5e08fc30236c7928f76171360f0e642435743

Aliases

arxiv: 1504.05803 · arxiv_version: 1504.05803v2 · doi: 10.48550/arxiv.1504.05803 · pith_short_12: S2DZB32DINCM · pith_short_16: S2DZB32DINCMOC5W · pith_short_8: S2DZB32D

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/S2DZB32DINCMOC5WX77EVZPAR7 \
  | 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: 968790ef434344c70bb6bffe4ae5e08fc30236c7928f76171360f0e642435743

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "710da2f1cc5f63886cd1ba244bed5c122270e635ddb82ea7b328163133361872",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2015-04-22T13:46:26Z",
    "title_canon_sha256": "5fb80145f92acb6e4e7f26c23fe36a5c54fb3e41370d5932852d682f714ec299"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1504.05803",
    "kind": "arxiv",
    "version": 2
  }
}