Pith Number

pith:SA37BO3Q

pith:2021:SA37BO3Q7LYJKSGL7RWL3Q3Q5J

not attested not anchored not stored refs pending

GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport

Jeffrey Ichnowski, Ken Goldberg, Yahav Avigal, Yi Liu

arxiv:2110.15326 v2 · 2021-10-28 · 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{SA37BO3Q7LYJKSGL7RWL3Q3Q5J}

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	2026-07-05T04:05:36.102139Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9037f0bb70faf09548cbfc6cbdc370ea777ee4a23da353b576029c5b8f33803e

Aliases

arxiv: 2110.15326 · arxiv_version: 2110.15326v2 · doi: 10.48550/arxiv.2110.15326 · pith_short_12: SA37BO3Q7LYJ · pith_short_16: SA37BO3Q7LYJKSGL · pith_short_8: SA37BO3Q

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/SA37BO3Q7LYJKSGL7RWL3Q3Q5J \
  | 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: 9037f0bb70faf09548cbfc6cbdc370ea777ee4a23da353b576029c5b8f33803e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e101efaa697096a6e62fca3e9dd1a76c0509ee7b5d3b8c7624e77384c25a0523",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-28T17:36:16Z",
    "title_canon_sha256": "177c190ad91915c8eebbf49b2d3e0c23a6bcb7b3f63e3a98106789196500dfb5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.15326",
    "kind": "arxiv",
    "version": 2
  }
}