Pith Number

pith:2IC3JBGO

pith:2024:2IC3JBGOVTRKX23HGGNZP6AKV4

not attested not anchored not stored refs pending

Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots

John Z. Zhang, Shuo Yang, Zachary Manchester, Zixin Zhang

arxiv:2409.09940 v2 · 2024-09-16 · 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{2IC3JBGOVTRKX23HGGNZP6AKV4}

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

Continual Learning and Lifting of Koopman Dynamics for Linear Control of Legged Robots

Receipt and verification

First computed	2026-07-05T09:07:51.812843Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d205b484ceace2abeb67319b97f80aaf0539bb3d3de2d5283667523cb943d016

Aliases

arxiv: 2409.09940 · arxiv_version: 2409.09940v2 · doi: 10.48550/arxiv.2409.09940 · pith_short_12: 2IC3JBGOVTRK · pith_short_16: 2IC3JBGOVTRKX23H · pith_short_8: 2IC3JBGO

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/2IC3JBGOVTRKX23HGGNZP6AKV4 \
  | 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: d205b484ceace2abeb67319b97f80aaf0539bb3d3de2d5283667523cb943d016

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "586251d3e124ef40f0a312e439a82a0781f676df75978619a3f40b9e89e0e11a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-16T02:32:54Z",
    "title_canon_sha256": "488955ed5ab54168b40e2212d81d0ca7a65776599b867ea43d44e83ac92a7ba7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.09940",
    "kind": "arxiv",
    "version": 2
  }
}