Pith Number

pith:XLANOHFM

pith:2025:XLANOHFM3TQWDI5FD6SA334GBV

not attested not anchored not stored refs pending

Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators

Bernhard Wullt, Johannes K\"ohler, Mikeal Norrl\"of, Per Mattsson, Thomas B. Sch\"on

arxiv:2508.21677 v3 · 2025-08-29 · 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{XLANOHFM3TQWDI5FD6SA334GBV}

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	2026-06-19T16:12:14.786233Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bac0d71cacdce161a3a51fa40def860d5cd742eb35b136f9c171f358348ae25d

Aliases

arxiv: 2508.21677 · arxiv_version: 2508.21677v3 · doi: 10.48550/arxiv.2508.21677 · pith_short_12: XLANOHFM3TQW · pith_short_16: XLANOHFM3TQWDI5F · pith_short_8: XLANOHFM

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/XLANOHFM3TQWDI5FD6SA334GBV \
  | 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: bac0d71cacdce161a3a51fa40def860d5cd742eb35b136f9c171f358348ae25d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "924b0344fdd58f39ea8d19692f4f46e8c9c83f06feb0c3e3f18ca5eefd200daf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-08-29T14:45:54Z",
    "title_canon_sha256": "c1b2eb9c10e6b89972a1c095a5cddd6b80d58266d56da8874c233f6162bd8968"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2508.21677",
    "kind": "arxiv",
    "version": 3
  }
}