Pith Number

pith:CIOA4XWA

pith:2017:CIOA4XWAR2M4NU3TX4RFEG6KIE

not attested not anchored not stored refs pending

Unsupervised Contact Learning for Humanoid Estimation and Control

Ludovic Righetti, Nicholas Rotella, Stefan Schaal

arxiv:1709.07472 v1 · 2017-09-21 · 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{CIOA4XWAR2M4NU3TX4RFEG6KIE}

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	2026-05-18T00:34:35.714020Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

121c0e5ec08e99c6d373bf22521bca410f28768a7976113d3815b21b6cfec8da

Aliases

arxiv: 1709.07472 · arxiv_version: 1709.07472v1 · doi: 10.48550/arxiv.1709.07472 · pith_short_12: CIOA4XWAR2M4 · pith_short_16: CIOA4XWAR2M4NU3T · pith_short_8: CIOA4XWA

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/CIOA4XWAR2M4NU3TX4RFEG6KIE \
  | 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: 121c0e5ec08e99c6d373bf22521bca410f28768a7976113d3815b21b6cfec8da

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "196529205abd98e1e063aafd0f38c35c5211cf1062c88422e11a526f94d7bb2c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-21T18:23:54Z",
    "title_canon_sha256": "7866a48502919cae6afe68da19f51240fc63a2da56b943b794fbc8bed500e457"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.07472",
    "kind": "arxiv",
    "version": 1
  }
}