Pith Number

pith:74EY6NZJ

pith:2026:74EY6NZJMI4YHR7RCN6ID6DT6U

not attested not anchored not stored refs pending

CacheMPC: Certified Cached Model Predictive Control for Quadruped Locomotion

Mangal Kothari, Mehul Anand, Nimesh Khandelwal, Shakti S. Gupta

arxiv:2606.28300 v1 · 2026-06-26 · 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{74EY6NZJMI4YHR7RCN6ID6DT6U}

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	2026-06-29T01:15:12.454932Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ff098f3729623983c7f1137c81f873f52cc6d931adbff69c42955f2a2a5240fc

Aliases

arxiv: 2606.28300 · arxiv_version: 2606.28300v1 · doi: 10.48550/arxiv.2606.28300 · pith_short_12: 74EY6NZJMI4Y · pith_short_16: 74EY6NZJMI4YHR7R · pith_short_8: 74EY6NZJ

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/74EY6NZJMI4YHR7RCN6ID6DT6U \
  | 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: ff098f3729623983c7f1137c81f873f52cc6d931adbff69c42955f2a2a5240fc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5cd80651a524c96af6e79b063b34c9cbc7e79f1ddc07fae6f122f3557beb151e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-26T17:47:05Z",
    "title_canon_sha256": "b5557cddca15f8725b125a5c383c59c27933a9bcdd6c47c24c6201a5dbfe7f4c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.28300",
    "kind": "arxiv",
    "version": 1
  }
}