Pith Number

pith:2Y4E6DZ2

pith:2019:2Y4E6DZ26FPTPN6ZQYAUXHJJOM

not attested not anchored not stored refs pending

Contact-Implicit Optimization of Locomotion Trajectories for a Quadrupedal Microrobot

Benjamin Goldberg, Kaushik Jayaram, Neel Doshi, Robert J. Wood, Scott Kuindersma, Zachary Manchester

arxiv:1901.09065 v1 · 2019-01-25 · 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{2Y4E6DZ26FPTPN6ZQYAUXHJJOM}

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	2026-05-17T23:54:38.754440Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d6384f0f3af15f37b7d986014b9d29731131b1779205f1457cbaf2cd6bd4e5bd

Aliases

arxiv: 1901.09065 · arxiv_version: 1901.09065v1 · doi: 10.48550/arxiv.1901.09065 · pith_short_12: 2Y4E6DZ26FPT · pith_short_16: 2Y4E6DZ26FPTPN6Z · pith_short_8: 2Y4E6DZ2

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/2Y4E6DZ26FPTPN6ZQYAUXHJJOM \
  | 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: d6384f0f3af15f37b7d986014b9d29731131b1779205f1457cbaf2cd6bd4e5bd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1d141aaca04d8290e59d4a56de1f130d5cb50a636c9e7ee3c69f50c56f628b4f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-01-25T20:02:18Z",
    "title_canon_sha256": "a8237bbabcb153a80318d912d091b0cae859715bb8907b7a9054f4e868f92024"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1901.09065",
    "kind": "arxiv",
    "version": 1
  }
}