Pith Number

pith:T2MJ6KU2

pith:2021:T2MJ6KU2LZXZ2AJCJ5JFCBIGDE

not attested not anchored not stored refs pending

Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units

Arvind Ragunathan, Devesh K. Jha, Diego Romeres, Masayoshi Tomizuka, Shiyu Jin

arxiv:2106.00898 v2 · 2021-06-02 · 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{T2MJ6KU2LZXZ2AJCJ5JFCBIGDE}

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	2026-07-05T02:50:46.798837Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9e989f2a9a5e6f9d01224f52510506191e170a0b6eaed626fbc41884210a1023

Aliases

arxiv: 2106.00898 · arxiv_version: 2106.00898v2 · doi: 10.48550/arxiv.2106.00898 · pith_short_12: T2MJ6KU2LZXZ · pith_short_16: T2MJ6KU2LZXZ2AJC · pith_short_8: T2MJ6KU2

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/T2MJ6KU2LZXZ2AJCJ5JFCBIGDE \
  | 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: 9e989f2a9a5e6f9d01224f52510506191e170a0b6eaed626fbc41884210a1023

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "348abef871bafb246b25582d70858bb71f15f67662f0d3400819550b8e3cc63d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-06-02T02:24:49Z",
    "title_canon_sha256": "1c94161873d5ecdbaf22510b0795efebff103264c45e87b8d39df6e2662ecb6a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2106.00898",
    "kind": "arxiv",
    "version": 2
  }
}