Pith Number

pith:SPB22XTT

pith:2018:SPB22XTTJ67HYDNCTHAUQWQPO4

not attested not anchored not stored refs pending

Trajectory Generation for Robotic Systems with Contact Force Constraints

Efstathios Bakolas, Jaemin Lee, Luis Sentis

arxiv:1809.10598 v1 · 2018-09-27 · 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{SPB22XTTJ67HYDNCTHAUQWQPO4}

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	2026-05-18T00:04:38.015302Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

93c3ad5e734fbe7c0da299c1485a0f77303158b21a51a3a33481146333526988

Aliases

arxiv: 1809.10598 · arxiv_version: 1809.10598v1 · doi: 10.48550/arxiv.1809.10598 · pith_short_12: SPB22XTTJ67H · pith_short_16: SPB22XTTJ67HYDNC · pith_short_8: SPB22XTT

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/SPB22XTTJ67HYDNCTHAUQWQPO4 \
  | 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: 93c3ad5e734fbe7c0da299c1485a0f77303158b21a51a3a33481146333526988

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ff69969d643f08582aed0dad8445d036bbb6b939adbc1aaaa4c40047aabcd74e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-09-27T16:12:55Z",
    "title_canon_sha256": "7b44660336b80b33482f6185edfe4e3b07b1bc12687acf6dd59fc64f3fec33d2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1809.10598",
    "kind": "arxiv",
    "version": 1
  }
}