Pith Number

pith:YCI5DSAV

pith:2022:YCI5DSAV4FQSPL77TW5YWNZMIY

not attested not anchored not stored refs pending

Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment

Cailian Chen, Han Wang, Jianping He, Xuda Ding, Yi Ren, Yu Zheng

arxiv:2211.04944 v2 · 2022-11-09 · 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{YCI5DSAV4FQSPL77TW5YWNZMIY}

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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

1 paper in Pith

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model

Receipt and verification

First computed	2026-07-05T05:15:13.634254Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c091d1c815e16127afff9dbb8b372c462ebb72e22fefcebdeff43e0364e2dafb

Aliases

arxiv: 2211.04944 · arxiv_version: 2211.04944v2 · doi: 10.48550/arxiv.2211.04944 · pith_short_12: YCI5DSAV4FQS · pith_short_16: YCI5DSAV4FQSPL77 · pith_short_8: YCI5DSAV

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/YCI5DSAV4FQSPL77TW5YWNZMIY \
  | 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: c091d1c815e16127afff9dbb8b372c462ebb72e22fefcebdeff43e0364e2dafb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "590212de0f019d2927632edf8c89de9b454847f8e6afa68e6951e9de8057ca4c",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-11-09T15:12:43Z",
    "title_canon_sha256": "9ded5ff7c688cd193aa6f737cda7e942e5bf4971d3026d294e1bef6f674be99b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2211.04944",
    "kind": "arxiv",
    "version": 2
  }
}