Pith Number

pith:52BYSS6R

pith:2023:52BYSS6RAVBYWAI5UWA4FZQAOH

not attested not anchored not stored refs pending

Topology-Based MPC for Automatic Footstep Placement and Contact Surface Selection

Carlos Mastalli, Jaehyun Shim, Sethu Vijayakumar, Steve Tonneau, Thomas Corb\`eres, Vladimir Ivan

arxiv:2303.13726 v2 · 2023-03-24 · 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{52BYSS6RAVBYWAI5UWA4FZQAOH}

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	2026-07-05T06:35:49.580339Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ee83894bd105438b011da581c2e60071f3401af1515e41d6eb55d099c80b289f

Aliases

arxiv: 2303.13726 · arxiv_version: 2303.13726v2 · doi: 10.48550/arxiv.2303.13726 · pith_short_12: 52BYSS6RAVBY · pith_short_16: 52BYSS6RAVBYWAI5 · pith_short_8: 52BYSS6R

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/52BYSS6RAVBYWAI5UWA4FZQAOH \
  | 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: ee83894bd105438b011da581c2e60071f3401af1515e41d6eb55d099c80b289f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e996c5fb90c1cd0a3e18a6a9d48394b3891682e512207751726496ec8703e373",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-24T00:38:45Z",
    "title_canon_sha256": "0e2d509154702c67a01821ddeb6295121e7ca2a4358e5d1347d7e519b6b078f2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.13726",
    "kind": "arxiv",
    "version": 2
  }
}