Pith Number

pith:7MHOPEXW

pith:2016:7MHOPEXWX4OVJ3J6DJQI2K2TGL

not attested not anchored not stored refs pending

Stepping Stabilization Using a Combination of DCM Tracking and Step Adjustment

Alexander Herzog, Ludovic Righetti, Majid Khadiv, S. Ali. A. Moosavian, Sebastien Kleff, Stefan Schaal

arxiv:1609.09822 v1 · 2016-09-30 · 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{7MHOPEXWX4OVJ3J6DJQI2K2TGL}

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	2026-05-18T01:03:33.274272Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fb0ee792f6bf1d54ed3e1a608d2b5332ef6d6330d6b6f9377b98806afe14481e

Aliases

arxiv: 1609.09822 · arxiv_version: 1609.09822v1 · doi: 10.48550/arxiv.1609.09822 · pith_short_12: 7MHOPEXWX4OV · pith_short_16: 7MHOPEXWX4OVJ3J6 · pith_short_8: 7MHOPEXW

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/7MHOPEXWX4OVJ3J6DJQI2K2TGL \
  | 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: fb0ee792f6bf1d54ed3e1a608d2b5332ef6d6330d6b6f9377b98806afe14481e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3ae772118af6d62d1240f3e4a2954786818f1aa30f2588de97c8ef978a7f7e82",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-09-30T17:22:39Z",
    "title_canon_sha256": "41aa16177dcbdfd9100b9e4dd9d6a3cbc25f8e677890fe4ef378dfbd823843bf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1609.09822",
    "kind": "arxiv",
    "version": 1
  }
}