Pith Number

pith:5CZU6I4O

pith:2024:5CZU6I4OCCN5UY56A6UIEBHCBV

not attested not anchored not stored refs pending

Real-Time Safe Bipedal Robot Navigation using Linear Discrete Control Barrier Functions

Ayonga Hereid, Chengyang Peng, Guillermo A. Castillo, Victor Paredes

arxiv:2411.03619 v1 · 2024-11-06 · 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{5CZU6I4OCCN5UY56A6UIEBHCBV}

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	2026-07-05T09:31:53.174772Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e8b34f238e109bda63be07a88204e20d4caacdd49c89cfbdfb21a5d3328e8b42

Aliases

arxiv: 2411.03619 · arxiv_version: 2411.03619v1 · doi: 10.48550/arxiv.2411.03619 · pith_short_12: 5CZU6I4OCCN5 · pith_short_16: 5CZU6I4OCCN5UY56 · pith_short_8: 5CZU6I4O

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/5CZU6I4OCCN5UY56A6UIEBHCBV \
  | 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: e8b34f238e109bda63be07a88204e20d4caacdd49c89cfbdfb21a5d3328e8b42

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a73f254283403a86aa0897693e3057bbb15d1e7912659d0f76615f1ff89c7494",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-11-06T02:24:27Z",
    "title_canon_sha256": "a1096878cb333ed0c199a021ffc30713061152512badb7882e169f1c2573fa97"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2411.03619",
    "kind": "arxiv",
    "version": 1
  }
}