Pith Number

pith:DXBK65R3

pith:2025:DXBK65R3WKB5NT34VVLDQLGS4W

not attested not anchored not stored refs pending

A Layered Control Perspective on Legged Locomotion: Embedding Reduced Order Models via Hybrid Zero Dynamics

Aaron D. Ames, Adrian B. Ghansah, Max H. Cohen, Sergio A. Esteban

arxiv:2509.00294 v1 · 2025-08-30 · eess.SY · cs.RO · cs.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{DXBK65R3WKB5NT34VVLDQLGS4W}

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	2026-07-05T12:02:13.020053Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1dc2af763bb283d6cf7cad56382cd2e5ada5c7a678cff0bb5418050417752af1

Aliases

arxiv: 2509.00294 · arxiv_version: 2509.00294v1 · doi: 10.48550/arxiv.2509.00294 · pith_short_12: DXBK65R3WKB5 · pith_short_16: DXBK65R3WKB5NT34 · pith_short_8: DXBK65R3

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/DXBK65R3WKB5NT34VVLDQLGS4W \
  | 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: 1dc2af763bb283d6cf7cad56382cd2e5ada5c7a678cff0bb5418050417752af1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0d2cec8533302240318979c8addef4078a92253c50b321eb72704fb7bed8039d",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2025-08-30T01:09:51Z",
    "title_canon_sha256": "cc16fdea19fbf6f21762eb9be92ddd7cfdbca6e49fb43292236a5cf79f30a908"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.00294",
    "kind": "arxiv",
    "version": 1
  }
}