Pith Number

pith:ZOCDJTR5

pith:2021:ZOCDJTR55XQ2UDH6UUJ3ZEC7YB

not attested not anchored not stored refs pending

Riemannian Optimization for Distance-Geometric Inverse Kinematics

Adam W. Hall, Filip Mari\'c, Ivan Petrovi\'c, Jonathan Kelly, Matthew Giamou, Soroush Khoubyarian

arxiv:2108.13720 v4 · 2021-08-31 · 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{ZOCDJTR55XQ2UDH6UUJ3ZEC7YB}

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	2026-07-05T07:22:11.562330Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cb8434ce3dede1aa0cfea513bc905fc075476be6d45f49f96fd4f82a3f4390dc

Aliases

arxiv: 2108.13720 · arxiv_version: 2108.13720v4 · doi: 10.48550/arxiv.2108.13720 · pith_short_12: ZOCDJTR55XQ2 · pith_short_16: ZOCDJTR55XQ2UDH6 · pith_short_8: ZOCDJTR5

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/ZOCDJTR55XQ2UDH6UUJ3ZEC7YB \
  | 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: cb8434ce3dede1aa0cfea513bc905fc075476be6d45f49f96fd4f82a3f4390dc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8f8230f8d89b043c7050693aa779422d5295fd71110663079e058e58c922007b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-31T09:58:14Z",
    "title_canon_sha256": "1d2c0ee034080fbfc16529e7a887002160eea488eb669cad647ee731b41e8fd8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.13720",
    "kind": "arxiv",
    "version": 4
  }
}