Pith Number

pith:ZFHJDD3Z

pith:2021:ZFHJDD3Z6R5HUQZAVPRXOVMVXB

not attested not anchored not stored refs pending

Provably Safe Tolerance Estimation for Robot Arms via Sum-of-Squares Programming

Changliu Liu, Suqin He, Weiye Zhao

arxiv:2104.08896 v1 · 2021-04-18 · cs.RO · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZFHJDD3Z6R5HUQZAVPRXOVMVXB}

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	2026-07-05T02:32:56.593485Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c94e918f79f47a7a4320abe3775595b873876c3dbe57f1c414a296f345832ec8

Aliases

arxiv: 2104.08896 · arxiv_version: 2104.08896v1 · doi: 10.48550/arxiv.2104.08896 · pith_short_12: ZFHJDD3Z6R5H · pith_short_16: ZFHJDD3Z6R5HUQZA · pith_short_8: ZFHJDD3Z

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/ZFHJDD3Z6R5HUQZAVPRXOVMVXB \
  | 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: c94e918f79f47a7a4320abe3775595b873876c3dbe57f1c414a296f345832ec8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c3a658f0d7412c2222a4683222886b1e68d30f349f46581d46e633edeba3195d",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-18T16:32:29Z",
    "title_canon_sha256": "8cd129f8877def8f3976ec7b46893e024084eb149c5926cc61e3dd095ea5e663"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.08896",
    "kind": "arxiv",
    "version": 1
  }
}