Pith Number

pith:2ZINQWZR

pith:2021:2ZINQWZRHLSKNWL7VLKH7QVFFW

not attested not anchored not stored refs pending

Terrain-perception-free Quadrupedal Spinning Locomotion on Versatile Terrains: Modeling, Analysis, and Experimental Validation

Aidong Zhang, Dong Wang, Hongwu Zhu, Jianwen Luo, Lecheng Ruan, Nathan Boyd, Ning Ding, Ye Zhao, Ziyi Zhou

arxiv:2107.12479 v4 · 2021-07-26 · 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{2ZINQWZRHLSKNWL7VLKH7QVFFW}

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	2026-07-05T03:25:33.734520Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d650d85b313ae4a6d97faad47fc2a52da282047490bcb5175fc8eb14ad6e04b7

Aliases

arxiv: 2107.12479 · arxiv_version: 2107.12479v4 · doi: 10.48550/arxiv.2107.12479 · pith_short_12: 2ZINQWZRHLSK · pith_short_16: 2ZINQWZRHLSKNWL7 · pith_short_8: 2ZINQWZR

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/2ZINQWZRHLSKNWL7VLKH7QVFFW \
  | 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: d650d85b313ae4a6d97faad47fc2a52da282047490bcb5175fc8eb14ad6e04b7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4e929cf6491f6ab1841fc63c3cd8089d3dda542a7905e65aa636ad4aac636e1e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-26T21:05:54Z",
    "title_canon_sha256": "dc8e9b9fb528757606c2b122eeb45405d868d549931dc2e21a5b174ef72ec9e1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.12479",
    "kind": "arxiv",
    "version": 4
  }
}