Pith Number

pith:TOTM4VER

pith:2019:TOTM4VERYWE2PV6MH3PL6XTOVL

not attested not anchored not stored refs pending

Efficient Computation of Higher-Order Variational Integrators in Robotic Simulation and Trajectory Optimization

Jarvis Schultz, Taosha Fan, Todd Murphey

arxiv:1904.12756 v1 · 2019-04-29 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{TOTM4VERYWE2PV6MH3PL6XTOVL}

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	2026-05-17T23:47:34.211020Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9ba6ce5491c589a7d7cc3edebf5e6eaaf483a33ff5b5e013864286a3cba1a23b

Aliases

arxiv: 1904.12756 · arxiv_version: 1904.12756v1 · doi: 10.48550/arxiv.1904.12756 · pith_short_12: TOTM4VERYWE2 · pith_short_16: TOTM4VERYWE2PV6M · pith_short_8: TOTM4VER

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/TOTM4VERYWE2PV6MH3PL6XTOVL \
  | 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: 9ba6ce5491c589a7d7cc3edebf5e6eaaf483a33ff5b5e013864286a3cba1a23b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8d236949ad9e46bc014ceb919722cc99575d040df05183beebd0daff0cfe03fc",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-29T14:53:32Z",
    "title_canon_sha256": "c81f150bdf4bebef8e225aad580d9a9949e7388ffdb14b2aa1b618b19f8c62af"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.12756",
    "kind": "arxiv",
    "version": 1
  }
}