Pith Number

pith:XN2SRBS5

pith:2021:XN2SRBS5JOMTEFHJ2A3STKQZ46

not attested not anchored not stored refs pending

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation

Arsalan Mousavian, Balakumar Sundaralingam, Byron Boots, Dieter Fox, Fabio Ramos, Mohak Bhardwaj, Nathan Ratliff

arxiv:2104.13542 v2 · 2021-04-28 · 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{XN2SRBS5JOMTEFHJ2A3STKQZ46}

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.

Cited by

2 papers in Pith

Building Generalization Into Behavior Generation Via Adaptive Compositions of Regularities

OmniRobotHome: A Multi-Camera Platform for Real-Time Multiadic Human-Robot Interaction

Receipt and verification

First computed	2026-07-05T03:20:45.821284Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bb7528865d4b993214e9d03729aa19e7bf9f5d62ebc38209911ff205bf672f36

Aliases

arxiv: 2104.13542 · arxiv_version: 2104.13542v2 · doi: 10.48550/arxiv.2104.13542 · pith_short_12: XN2SRBS5JOMT · pith_short_16: XN2SRBS5JOMTEFHJ · pith_short_8: XN2SRBS5

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/XN2SRBS5JOMTEFHJ2A3STKQZ46 \
  | 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: bb7528865d4b993214e9d03729aa19e7bf9f5d62ebc38209911ff205bf672f36

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0b4f82d1a848542b7b023ef60719f2d18bf9615dbc9e67f238489bd71217c9cb",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-28T02:47:00Z",
    "title_canon_sha256": "65ee4247a8fa6130851599b125713c97d797bc64812d7270884c289ed4d680e8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.13542",
    "kind": "arxiv",
    "version": 2
  }
}