Pith Number

pith:4PAWLNYF

pith:2025:4PAWLNYFRN3ZDIQRWXQFXDTQV4

not attested not anchored not stored refs pending

Geometry-Aware Predictive Safety Filters on Humanoids: From Poisson Safety Functions to CBF Constrained MPC

Aaron D. Ames, Blake Werner, Gilbert Bahati, Lizhi Yang, Ryan K. Cosner, Ryan M. Bena

arxiv:2508.11129 v1 · 2025-08-15 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{4PAWLNYFRN3ZDIQRWXQFXDTQV4}

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	2026-07-05T11:54:19.047755Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e3c165b7058b7791a211b5e05b8e70af17a651d25a948d058ef516f50230164c

Aliases

arxiv: 2508.11129 · arxiv_version: 2508.11129v1 · doi: 10.48550/arxiv.2508.11129 · pith_short_12: 4PAWLNYFRN3Z · pith_short_16: 4PAWLNYFRN3ZDIQR · pith_short_8: 4PAWLNYF

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/4PAWLNYFRN3ZDIQRWXQFXDTQV4 \
  | 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: e3c165b7058b7791a211b5e05b8e70af17a651d25a948d058ef516f50230164c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5995c9934432a489b3919a0415c0d78f99a41345191c315053bce3b52eb261da",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-08-15T00:35:27Z",
    "title_canon_sha256": "c83c3bad55d187391fc9b8a7c083bd157b137ac4d740f40a57f9e4f0330c7d99"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2508.11129",
    "kind": "arxiv",
    "version": 1
  }
}