Pith Number

pith:ZX4ASRUP

pith:2020:ZX4ASRUPYSNO4AQAPYTGPVEEBX

not attested not anchored not stored refs pending

Virtual Forward Dynamics Models for Cartesian Robot Control

Arne Roennau, R\"udiger Dillmann, Stefan Scherzinger

arxiv:2009.11888 v1 · 2020-09-24 · 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{ZX4ASRUPYSNO4AQAPYTGPVEEBX}

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	2026-07-05T01:37:57.117370Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cdf809468fc49aee02007e2667d4840df56a0bc15c0e91801587874859805563

Aliases

arxiv: 2009.11888 · arxiv_version: 2009.11888v1 · doi: 10.48550/arxiv.2009.11888 · pith_short_12: ZX4ASRUPYSNO · pith_short_16: ZX4ASRUPYSNO4AQA · pith_short_8: ZX4ASRUP

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/ZX4ASRUPYSNO4AQAPYTGPVEEBX \
  | 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: cdf809468fc49aee02007e2667d4840df56a0bc15c0e91801587874859805563

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c009148f67cb3a192426aade5a19764f15b18e7f65b2cd8d193ce7321ab9f31a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-09-24T18:09:04Z",
    "title_canon_sha256": "c7f4f2ca894e72bcf329704517caf4599e0f8efd74b8ecb740fcf03e241e6bc7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2009.11888",
    "kind": "arxiv",
    "version": 1
  }
}