Pith Number

pith:6WUNSHVZ

pith:2026:6WUNSHVZ6INKIXTIGDUSETHROQ

not attested not anchored not stored refs pending

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots

Jiarong Kang, Kunzhao Ren, Tao Pang, Xiaobin Xiong

arxiv:2605.17681 v1 · 2026-05-17 · 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{6WUNSHVZ6INKIXTIGDUSETHROQ}

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	2026-05-20T00:04:52.476295Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f5a8d91eb9f21aa45e6830e9224cf1743e3bcb27370f2912fe2c5154732354ac

Aliases

arxiv: 2605.17681 · arxiv_version: 2605.17681v1 · doi: 10.48550/arxiv.2605.17681 · pith_short_12: 6WUNSHVZ6INK · pith_short_16: 6WUNSHVZ6INKIXTI · pith_short_8: 6WUNSHVZ

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/6WUNSHVZ6INKIXTIGDUSETHROQ \
  | 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: f5a8d91eb9f21aa45e6830e9224cf1743e3bcb27370f2912fe2c5154732354ac

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "38aa5d5a9fbca4971d46b946f494aca596ce216eb6fd0208b622831999f20b5d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-17T22:43:10Z",
    "title_canon_sha256": "61a0a6e24074f13c29acd0743b31ac3e8c3ef3e861f4a8218adf86ea43bd8ad4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.17681",
    "kind": "arxiv",
    "version": 1
  }
}