Pith Number

pith:WZVECS4N

pith:2020:WZVECS4ND6NZN26NJVSNPWULT4

not attested not anchored not stored refs pending

Impact-Aware Task-Space Quadratic-Programming Control

Abderrahmane Kheddar, Arnaud Tanguy, Niels Dehio, Yuquan Wang

arxiv:2006.01987 v6 · 2020-06-03 · 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{WZVECS4ND6NZN26NJVSNPWULT4}

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	2026-07-05T07:21:08.585823Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b66a414b8d1f9b96ebcd4d64d7da8b9f0666fb9acf5b6ebd8fe386aaaa1989e4

Aliases

arxiv: 2006.01987 · arxiv_version: 2006.01987v6 · doi: 10.48550/arxiv.2006.01987 · pith_short_12: WZVECS4ND6NZ · pith_short_16: WZVECS4ND6NZN26N · pith_short_8: WZVECS4N

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/WZVECS4ND6NZN26NJVSNPWULT4 \
  | 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: b66a414b8d1f9b96ebcd4d64d7da8b9f0666fb9acf5b6ebd8fe386aaaa1989e4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f1dfd1a585918ea2d00ec12101f6e5dc9cd7fd3600ffd064a74bc5495d83102d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-06-03T00:02:05Z",
    "title_canon_sha256": "c88c6cc58cf171dcb378908d8731ac97ccdedece30e32d14b0485a550d8c081e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2006.01987",
    "kind": "arxiv",
    "version": 6
  }
}