Pith Number

pith:7SZWDAVD

pith:2021:7SZWDAVD26AUTKMMZJP7QUKXN7

not attested not anchored not stored refs pending

Mini Cheetah, the Falling Cat: A Case Study in Machine Learning and Trajectory Optimization for Robot Acrobatics

Hai Lin, He Li, Patrick M. Wensing, Vince Kurtz

arxiv:2109.04424 v2 · 2021-09-09 · 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{7SZWDAVD26AUTKMMZJP7QUKXN7}

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	2026-07-05T04:00:57.003258Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fcb36182a3d78149a98cca5ff851576ff5e78596cb0f0d1c519bd92215d26f7f

Aliases

arxiv: 2109.04424 · arxiv_version: 2109.04424v2 · doi: 10.48550/arxiv.2109.04424 · pith_short_12: 7SZWDAVD26AU · pith_short_16: 7SZWDAVD26AUTKMM · pith_short_8: 7SZWDAVD

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/7SZWDAVD26AUTKMMZJP7QUKXN7 \
  | 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: fcb36182a3d78149a98cca5ff851576ff5e78596cb0f0d1c519bd92215d26f7f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d11d9879952efb19ee9decd9aba6f54f9782e529b00b5d1be0179cfa8ff84f9c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-09T17:16:54Z",
    "title_canon_sha256": "18479f9bf72549d71d24d86adfb2741da5ea2001ea710ad958fa32a0b3d8f98a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.04424",
    "kind": "arxiv",
    "version": 2
  }
}