Pith Number

pith:SUM2F4VU

pith:2021:SUM2F4VURXZBOQ5DM32POP7YJQ

not attested not anchored not stored refs pending

Learning-based Robust Motion Planning with Guaranteed Stability: A Contraction Theory Approach

Hiroyasu Tsukamoto, Soon-Jo Chung

arxiv:2102.12668 v4 · 2021-02-25 · cs.RO · cs.AI · cs.LG · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{SUM2F4VURXZBOQ5DM32POP7YJQ}

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	2026-07-05T03:19:42.170225Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9519a2f2b48df21743a366f4f73ff84c2effa371cdd45b9c1136a8f10ba687c6

Aliases

arxiv: 2102.12668 · arxiv_version: 2102.12668v4 · doi: 10.48550/arxiv.2102.12668 · pith_short_12: SUM2F4VURXZB · pith_short_16: SUM2F4VURXZBOQ5D · pith_short_8: SUM2F4VU

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/SUM2F4VURXZBOQ5DM32POP7YJQ \
  | 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: 9519a2f2b48df21743a366f4f73ff84c2effa371cdd45b9c1136a8f10ba687c6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8af820e79840c282d9aa142897fd509c74cf23a3cdf60963de9a402860c83f54",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-25T03:47:15Z",
    "title_canon_sha256": "e2c69824bf4056d797e0f26a9f7ace878b1d328a7cb5ca63fb7fddc856a6049a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.12668",
    "kind": "arxiv",
    "version": 4
  }
}