Pith Number

pith:XIUGPAHP

pith:2025:XIUGPAHPUZCPJ7LGIXY4O2BPG7

not attested not anchored not stored refs pending

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control

Florian T. Pokorny, Luis F.C. Figueredo, Nilanjan Chakraborty, Rafael I. Cabral Muchacho, Riddhiman Laha

arxiv:2504.17647 v1 · 2025-04-24 · cs.RO · 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{XIUGPAHPUZCPJ7LGIXY4O2BPG7}

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	2026-07-05T10:53:33.479458Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ba286780efa644f4fd6645f1c7682f37c6f0bd784327dac574b4fce5d152745d

Aliases

arxiv: 2504.17647 · arxiv_version: 2504.17647v1 · doi: 10.48550/arxiv.2504.17647 · pith_short_12: XIUGPAHPUZCP · pith_short_16: XIUGPAHPUZCPJ7LG · pith_short_8: XIUGPAHP

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/XIUGPAHPUZCPJ7LGIXY4O2BPG7 \
  | 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: ba286780efa644f4fd6645f1c7682f37c6f0bd784327dac574b4fce5d152745d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "088d2384bb4138a901a75b803fc44af8faa58b04ff5f84e7015709340f9b53a3",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-24T15:17:26Z",
    "title_canon_sha256": "2da8fabd032166f24c1aecddd12a195b25eda9b3d75b430e5cf263564ac9afa7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.17647",
    "kind": "arxiv",
    "version": 1
  }
}