Pith Number

pith:TOKLZ2HQ

pith:2021:TOKLZ2HQEOZMQIESCGWRMSIAAU

not attested not anchored not stored refs pending

An End-to-End Differentiable Framework for Contact-Aware Robot Design

Jie Xu, Lara Zlokapa, Michael Foshey, Pulkit Agrawal, Shinjiro Sueda, Tao Chen, Wojciech Matusik

arxiv:2107.07501 v2 · 2021-07-15 · cs.RO · cs.AI · cs.GR

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{TOKLZ2HQEOZMQIESCGWRMSIAAU}

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.

Cited by

1 paper in Pith

Function-based Parametric Co-Design Optimization of Dexterous Hands

Receipt and verification

First computed	2026-07-05T03:08:35.854106Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9b94bce8f023b2c8209211ad164900050610f046a6b28298048ee8c35eb5039c

Aliases

arxiv: 2107.07501 · arxiv_version: 2107.07501v2 · doi: 10.48550/arxiv.2107.07501 · pith_short_12: TOKLZ2HQEOZM · pith_short_16: TOKLZ2HQEOZMQIES · pith_short_8: TOKLZ2HQ

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/TOKLZ2HQEOZMQIESCGWRMSIAAU \
  | 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: 9b94bce8f023b2c8209211ad164900050610f046a6b28298048ee8c35eb5039c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e02832ff68d3031573ab347df30ce24aeab78a0fed5acba0183e2b0f57c9ff17",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.GR"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-15T17:53:44Z",
    "title_canon_sha256": "4682466edae9e4b58ae87fd9d17a8113644fb303dcda9fb60325021d88ac14e9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.07501",
    "kind": "arxiv",
    "version": 2
  }
}