Pith Number

pith:B4DS4TTI

pith:2019:B4DS4TTISHYMA7QBZZSDFTSSSK

not attested not anchored not stored refs pending

Rolling in the Deep -- Hybrid Locomotion for Wheeled-Legged Robots using Online Trajectory Optimization

C. Dario Bellicoso, Heike Vallery, Marco Hutter, Marko Bjelonic, Prajish K. Sankar

arxiv:1909.07193 v3 · 2019-09-16 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{B4DS4TTISHYMA7QBZZSDFTSSSK}

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	2026-07-05T00:38:46.269877Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0f072e4e6891f0c07e01ce6432ce5292aefec81c7c62f570a3d5c1cedb17f652

Aliases

arxiv: 1909.07193 · arxiv_version: 1909.07193v3 · doi: 10.48550/arxiv.1909.07193 · pith_short_12: B4DS4TTISHYM · pith_short_16: B4DS4TTISHYMA7QB · pith_short_8: B4DS4TTI

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/B4DS4TTISHYMA7QBZZSDFTSSSK \
  | 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: 0f072e4e6891f0c07e01ce6432ce5292aefec81c7c62f570a3d5c1cedb17f652

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e81747789b0aa78a2b04a6843cb2c06d0661692eea2400c804f2fc5a3fb7ae28",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-09-16T13:38:19Z",
    "title_canon_sha256": "1d7343a9945a32b85fa29d1688864c544292f828586ab0d1668ee344c47a949e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1909.07193",
    "kind": "arxiv",
    "version": 3
  }
}