Pith Number

pith:AAUP7T53

pith:2021:AAUP7T537YD55W54QQAXX4HD2U

not attested not anchored not stored refs pending

Non-prehensile Planar Manipulation via Trajectory Optimization with Complementarity Constraints

Jo\~ao Moura, Sethu Vijayakumar, Theodoros Stouraitis

arxiv:2109.13145 v2 · 2021-09-27 · 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{AAUP7T537YD55W54QQAXX4HD2U}

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	2026-07-05T04:06:17.046937Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0028ffcfbbfe07dedbbc84017bf0e3d526df167feb101fa39758b930b8bda4ad

Aliases

arxiv: 2109.13145 · arxiv_version: 2109.13145v2 · doi: 10.48550/arxiv.2109.13145 · pith_short_12: AAUP7T537YD5 · pith_short_16: AAUP7T537YD55W54 · pith_short_8: AAUP7T53

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/AAUP7T537YD55W54QQAXX4HD2U \
  | 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: 0028ffcfbbfe07dedbbc84017bf0e3d526df167feb101fa39758b930b8bda4ad

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "04cfc796c090568688ec9d8edf245983b8d04a20bff14719eb5cf32bc94b7a38",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-27T16:00:14Z",
    "title_canon_sha256": "12ea5f8ae5a06514c89199bf9fdb8a17860d1e0835b909c419490fd292ffd662"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.13145",
    "kind": "arxiv",
    "version": 2
  }
}