Pith Number

pith:YGI3DC2W

pith:2022:YGI3DC2W4GOTDIXHEVJ4AWCHG6

not attested not anchored not stored refs pending

Real-Time Deformable-Contact-Aware Model Predictive Control for Force-Modulated Manipulation

Frank L. Hammond III, Lasitha Wijayarathne, Ye Zhao, Ziyi Zhou

arxiv:2212.09234 v2 · 2022-12-19 · 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{YGI3DC2W4GOTDIXHEVJ4AWCHG6}

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	2026-07-05T06:19:17.350978Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c191b18b56e19d31a2e72553c05847378fec28c78633a8fb258538a16bd9da6d

Aliases

arxiv: 2212.09234 · arxiv_version: 2212.09234v2 · doi: 10.48550/arxiv.2212.09234 · pith_short_12: YGI3DC2W4GOT · pith_short_16: YGI3DC2W4GOTDIXH · pith_short_8: YGI3DC2W

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/YGI3DC2W4GOTDIXHEVJ4AWCHG6 \
  | 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: c191b18b56e19d31a2e72553c05847378fec28c78633a8fb258538a16bd9da6d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "783e1feeb70a7b6245d2cd9b02b388eca54307f5e40ca468b7205eed52faeed6",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-12-19T04:05:42Z",
    "title_canon_sha256": "6731852bbaeee4b0ab8d44d0be4cb640b39849fdb430f1bab176e8b531b49d5d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2212.09234",
    "kind": "arxiv",
    "version": 2
  }
}