Pith Number

pith:WIU6WQ7I

pith:2023:WIU6WQ7IH6DRP6VE7CJPNAAA5M

not attested not anchored not stored refs pending

FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control

Ajay Sathya, Joris De Schutter, Lander Vanroye, Wilm Decr\'e

arxiv:2303.16746 v3 · 2023-03-29 · math.OC · 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{WIU6WQ7IH6DRP6VE7CJPNAAA5M}

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	2026-07-05T06:35:27.065097Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b229eb43e83f8717faa4f892f68000eb08509ed8de26bd6ba3be33c62b30bbc6

Aliases

arxiv: 2303.16746 · arxiv_version: 2303.16746v3 · doi: 10.48550/arxiv.2303.16746 · pith_short_12: WIU6WQ7IH6DR · pith_short_16: WIU6WQ7IH6DRP6VE · pith_short_8: WIU6WQ7I

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/WIU6WQ7IH6DRP6VE7CJPNAAA5M \
  | 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: b229eb43e83f8717faa4f892f68000eb08509ed8de26bd6ba3be33c62b30bbc6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e77d28893ad135590f09c42f01cd40aef195b2d5c67d2af7b3e12068a96b9db3",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2023-03-29T14:51:53Z",
    "title_canon_sha256": "7cb25f51e5a331c5626de8ae3ecd540969d0c431d0ff66caac7efcc04803aa27"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.16746",
    "kind": "arxiv",
    "version": 3
  }
}