Pith Number

pith:2JCKSHZE

pith:2022:2JCKSHZEFFHKPZMZRGJDSRWXEF

not attested not anchored not stored refs pending

Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots

Ahmad Gazar, Andrea Del Prete, Ludovic Righetti, Majid Khadiv, S\'ebastien Kleff

arxiv:2205.13264 v2 · 2022-05-26 · 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{2JCKSHZEFFHKPZMZRGJDSRWXEF}

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	2026-07-05T04:58:55.327492Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d244a91f24294ea7e59989923946d7217ee71e79f99d2330d635256105dbe278

Aliases

arxiv: 2205.13264 · arxiv_version: 2205.13264v2 · doi: 10.48550/arxiv.2205.13264 · pith_short_12: 2JCKSHZEFFHK · pith_short_16: 2JCKSHZEFFHKPZMZ · pith_short_8: 2JCKSHZE

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/2JCKSHZEFFHKPZMZRGJDSRWXEF \
  | 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: d244a91f24294ea7e59989923946d7217ee71e79f99d2330d635256105dbe278

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "10d8b1bc212a0ea539e354bd11edc9a974674cae78a223e7114277805587174f",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-05-26T10:40:04Z",
    "title_canon_sha256": "ea2d7ea02d788701a7f0b257638ea94f6d02023f79be914899601d7aac947e4b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2205.13264",
    "kind": "arxiv",
    "version": 2
  }
}