Pith Number

pith:D5TWCD7Q

pith:2024:D5TWCD7QXLPO35OXKHKNNLOCAZ

not attested not anchored not stored refs pending

Adaptive Non-linear Centroidal MPC with Stability Guarantees for Robust Locomotion of Legged Robots

Claudio Semini, Daniele Pucci, Giulio Romualdi, Giulio Turrisi, Lorenzo Rapetti, Mohamed Elobaid, Stefano Dafarra, Takahide Yoshiike, Tomohiro Chaki, Tomohiro Kawakami

arxiv:2409.01144 v3 · 2024-09-02 · 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{D5TWCD7QXLPO35OXKHKNNLOCAZ}

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	2026-05-29T02:05:33.023269Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1f67610ff0badeedf5d751d4d6adc2065c5147f08f81ad2712f0b9b0e30dfa62

Aliases

arxiv: 2409.01144 · arxiv_version: 2409.01144v3 · doi: 10.48550/arxiv.2409.01144 · pith_short_12: D5TWCD7QXLPO · pith_short_16: D5TWCD7QXLPO35OX · pith_short_8: D5TWCD7Q

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/D5TWCD7QXLPO35OXKHKNNLOCAZ \
  | 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: 1f67610ff0badeedf5d751d4d6adc2065c5147f08f81ad2712f0b9b0e30dfa62

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a70ef7643580cb5602dd3af416fba968f699175fceb01e87b092112c64f0fe8f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-02T10:28:18Z",
    "title_canon_sha256": "1eaf2e18bac42ca63ce33a4361a3aed6a5b4529d9cd154f2f532b68b29d06aad"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.01144",
    "kind": "arxiv",
    "version": 3
  }
}