Pith Number

pith:2IRO3JHX

pith:2016:2IRO3JHXHTEP6VPUTC7J5EOZHU

not attested not anchored not stored refs pending

When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC

Quang-Cuong Pham, St\'ephane Caron

arxiv:1609.04600 v3 · 2016-09-15 · 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{2IRO3JHXHTEP6VPUTC7J5EOZHU}

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	2026-05-18T00:33:07.099207Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d222eda4f73cc8ff55f498be9e91d93d2377c8301c1200cd51a9c4514af91c19

Aliases

arxiv: 1609.04600 · arxiv_version: 1609.04600v3 · doi: 10.48550/arxiv.1609.04600 · pith_short_12: 2IRO3JHXHTEP · pith_short_16: 2IRO3JHXHTEP6VPU · pith_short_8: 2IRO3JHX

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/2IRO3JHXHTEP6VPUTC7J5EOZHU \
  | 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: d222eda4f73cc8ff55f498be9e91d93d2377c8301c1200cd51a9c4514af91c19

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0514557913c6da4d8c889f0f5f81f3c9f12065e239914f0a148ef8ff76236e46",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-09-15T12:36:38Z",
    "title_canon_sha256": "7a5b6fb6cd4c0b30b40b2c22be5e033142741e9372651d3a38e88d1c8eaeed3d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1609.04600",
    "kind": "arxiv",
    "version": 3
  }
}