Pith Number

pith:WDTZ6A4F

pith:2026:WDTZ6A4F2WRX2YIIFQ2Z4BQWU3

not attested not anchored not stored refs pending

Batched Differentiable Rigid Body Dynamics in PyTorch for GPU-Accelerated Robot Learning

Chuanhang Qiu, Wenbo Wu, Yanran Xu, Yue Wang, Zhaoxing Li

arxiv:2605.31481 v1 · 2026-05-29 · 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{WDTZ6A4F2WRX2YIIFQ2Z4BQWU3}

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	2026-06-01T02:04:08.330292Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b0e79f0385d5a37d61082c359e0616a6c0479deebea05b1c2c41b194f9718317

Aliases

arxiv: 2605.31481 · arxiv_version: 2605.31481v1 · doi: 10.48550/arxiv.2605.31481 · pith_short_12: WDTZ6A4F2WRX · pith_short_16: WDTZ6A4F2WRX2YII · pith_short_8: WDTZ6A4F

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/WDTZ6A4F2WRX2YIIFQ2Z4BQWU3 \
  | 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: b0e79f0385d5a37d61082c359e0616a6c0479deebea05b1c2c41b194f9718317

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "749814574f334c450952fccd09005158b11d8e61c177c1e0afe6bf2bb119d487",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-29T16:07:28Z",
    "title_canon_sha256": "d63fe91ae9ad1f7da06fed3089d13645632af7321c0576afc432b62c2ba3579b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.31481",
    "kind": "arxiv",
    "version": 1
  }
}