Pith Number

pith:ZSOOKYQN

pith:2019:ZSOOKYQN7A3MGS4JHI7W3ZKCZE

not attested not anchored not stored refs pending

Keep soft robots soft -- a data-driven based trade-off between feed-forward and feedback control

Sandra Hirche, Thomas Beckers

arxiv:1906.10489 v1 · 2019-06-25 · eess.SY · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZSOOKYQN7A3MGS4JHI7W3ZKCZE}

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	2026-05-17T23:42:16.245721Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cc9ce5620df836c34b893a3f6de542c9350ee3dcda9b23cae8208fa2c4cd32d8

Aliases

arxiv: 1906.10489 · arxiv_version: 1906.10489v1 · doi: 10.48550/arxiv.1906.10489 · pith_short_12: ZSOOKYQN7A3M · pith_short_16: ZSOOKYQN7A3MGS4J · pith_short_8: ZSOOKYQN

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/ZSOOKYQN7A3MGS4JHI7W3ZKCZE \
  | 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: cc9ce5620df836c34b893a3f6de542c9350ee3dcda9b23cae8208fa2c4cd32d8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "75fa765c4c1a366618d65af7babae3685db3990595a6c9247241bd209eb33379",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2019-06-25T13:00:48Z",
    "title_canon_sha256": "b4b12306e73a8210d8be9f1d49157ec669d424515b17a31d8bd23045a697b097"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.10489",
    "kind": "arxiv",
    "version": 1
  }
}