Pith Number

pith:D5QUXMBE

pith:2024:D5QUXMBEOEBTLFQJ7M342JXN5K

not attested not anchored not stored refs pending

The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics

Bokuan Li, Boxi Xia, Boyuan Chen, Jacob Lee, Michael Scutari

arxiv:2409.19795 v2 · 2024-09-29 · 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{D5QUXMBEOEBTLFQJ7M342JXN5K}

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	2026-07-05T10:31:24.713685Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1f614bb0247103359609fb37cd26edeaa9fb94bb8b1c7700275ff3d28637e59f

Aliases

arxiv: 2409.19795 · arxiv_version: 2409.19795v2 · doi: 10.48550/arxiv.2409.19795 · pith_short_12: D5QUXMBEOEBT · pith_short_16: D5QUXMBEOEBTLFQJ · pith_short_8: D5QUXMBE

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/D5QUXMBEOEBTLFQJ7M342JXN5K \
  | 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: 1f614bb0247103359609fb37cd26edeaa9fb94bb8b1c7700275ff3d28637e59f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1e13c41ed1e6008889cb647fb739624650c4ca01667698d6037456728484fa81",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-29T21:43:11Z",
    "title_canon_sha256": "92fd5c6b316713da1d1ac654be4472455a0ad97e8703b9ee4be00e90060ffefb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.19795",
    "kind": "arxiv",
    "version": 2
  }
}