Pith Number

pith:ADZOXCSH

pith:2020:ADZOXCSHVLNK2PE2DYY4PC4BXP

not attested not anchored not stored refs pending

LQR-Assisted Whole-Body Control of a Wheeled Bipedal Robot with Kinematic Loops

Alessandro Morra, David Rohr, Dominik Mannhart, Lionel Gulich, Mina Kamel, Roland Siegwart, Victor Klemm, Yvain de Viragh

arxiv:2005.11431 v1 · 2020-05-23 · 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{ADZOXCSHVLNK2PE2DYY4PC4BXP}

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	2026-07-05T01:05:14.301913Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

00f2eb8a47aadaad3c9a1e31c78b81bbe7923d66126293cfcf91374902f3dc5b

Aliases

arxiv: 2005.11431 · arxiv_version: 2005.11431v1 · doi: 10.48550/arxiv.2005.11431 · pith_short_12: ADZOXCSHVLNK · pith_short_16: ADZOXCSHVLNK2PE2 · pith_short_8: ADZOXCSH

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/ADZOXCSHVLNK2PE2DYY4PC4BXP \
  | 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: 00f2eb8a47aadaad3c9a1e31c78b81bbe7923d66126293cfcf91374902f3dc5b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d33e7b67e33664c61dc227f2f1a241b54c46a9bbe73c977a5bac00ac5964b84a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-05-23T00:03:04Z",
    "title_canon_sha256": "b91c0d35a6abb37b5aea53d75cc328afdf56c1dddc98cb7840049b81313a1bfe"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2005.11431",
    "kind": "arxiv",
    "version": 1
  }
}