Pith Number

pith:7WQMDXFW

pith:2023:7WQMDXFWMR2FVEQR2Y35HPYK4K

not attested not anchored not stored refs pending

Probabilistic Contact State Estimation for Legged Robots using Inertial Information

Despina-Ekaterini Argiropoulos, Michael Maravgakis, Panos Trahanias, Stylianos Piperakis

arxiv:2303.00538 v2 · 2023-03-01 · 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{7WQMDXFWMR2FVEQR2Y35HPYK4K}

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.

Cited by

1 paper in Pith

SlipSense: Multimodal Sensing for Online Slip Detection in Legged Robots

Receipt and verification

First computed	2026-07-05T05:48:06.921652Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fda0c1dcb664745a9211d637d3bf0ae2af6254a5b287b3fc62c56bea09f58b8f

Aliases

arxiv: 2303.00538 · arxiv_version: 2303.00538v2 · doi: 10.48550/arxiv.2303.00538 · pith_short_12: 7WQMDXFWMR2F · pith_short_16: 7WQMDXFWMR2FVEQR · pith_short_8: 7WQMDXFW

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/7WQMDXFWMR2FVEQR2Y35HPYK4K \
  | 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: fda0c1dcb664745a9211d637d3bf0ae2af6254a5b287b3fc62c56bea09f58b8f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d36be346e6a6fbd879eaeddf136f0eab4d5b2886bf14b09bd374259f4d6dee0a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-01T14:25:52Z",
    "title_canon_sha256": "92e3eb36e40b8b56e9744ecc60492abf2dafd5f9c0f1fe2441b339ecf6bf2e7a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.00538",
    "kind": "arxiv",
    "version": 2
  }
}