Pith Number

pith:AEY6QHAD

pith:2021:AEY6QHADF2R6YAXX2JZ5EG565M

not attested not anchored not stored refs pending

Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers

Allison M. Okamura, Mac Schwager, Nathan S. Usevitch, Trevor Halsted, Zachary M. Hammond

arxiv:2108.06577 v1 · 2021-08-14 · 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{AEY6QHADF2R6YAXX2JZ5EG565M}

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	2026-07-05T03:05:55.986064Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0131e81c032ea3ec02f7d273d21bbeeb16f6b71c6f3db498019485e1b34974b9

Aliases

arxiv: 2108.06577 · arxiv_version: 2108.06577v1 · doi: 10.48550/arxiv.2108.06577 · pith_short_12: AEY6QHADF2R6 · pith_short_16: AEY6QHADF2R6YAXX · pith_short_8: AEY6QHAD

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/AEY6QHADF2R6YAXX2JZ5EG565M \
  | 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: 0131e81c032ea3ec02f7d273d21bbeeb16f6b71c6f3db498019485e1b34974b9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "710a310a11580add14e2e8a650ba2862d13c1e3ae7793fd57a1444d58af9b53b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-14T16:23:37Z",
    "title_canon_sha256": "0f034eecb6f688b91083a5efb1c8496f9272e705a62c45284f4d1476bc481b86"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.06577",
    "kind": "arxiv",
    "version": 1
  }
}