Pith Number

pith:2XLJCLT2

pith:2025:2XLJCLT2NCYJJB5WTJNBUNSP5D

not attested not anchored not stored refs pending

Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion

Karl Berntorp, Stefano Di Cairano, Yebin Wang, Ziyi Zhou

arxiv:2504.17201 v1 · 2025-04-24 · 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{2XLJCLT2NCYJJB5WTJNBUNSP5D}

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	2026-07-05T10:53:24.158570Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d5d6912e7a68b09487b69a5a1a364fe8f00cdb4a910b17a0dd8faf1268ccb4ff

Aliases

arxiv: 2504.17201 · arxiv_version: 2504.17201v1 · doi: 10.48550/arxiv.2504.17201 · pith_short_12: 2XLJCLT2NCYJ · pith_short_16: 2XLJCLT2NCYJJB5W · pith_short_8: 2XLJCLT2

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/2XLJCLT2NCYJJB5WTJNBUNSP5D \
  | 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: d5d6912e7a68b09487b69a5a1a364fe8f00cdb4a910b17a0dd8faf1268ccb4ff

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "01160236ec6a297049044c40829be81b271a97830a3f6d3ff5d7bb4e73bf3228",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-24T02:25:41Z",
    "title_canon_sha256": "9059c27df1a139e45a09c6ed93379921a7b8cea679efdd8c48573b3bbe1eff8f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.17201",
    "kind": "arxiv",
    "version": 1
  }
}