Pith Number

pith:DZCAAMM4

pith:2019:DZCAAMM4LNQLGICEKMY53D7T2M

not attested not anchored not stored refs pending

Trajectory Optimization for Robust Humanoid Locomotion with Sample-Efficient Learning

Jia-Jie Zhu, Ludovic Righetti, Majid Khadiv, Mohammad Hasan Yeganegi, S. Ali A. Moosavian

arxiv:1906.03684 v1 · 2019-06-09 · 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{DZCAAMM4LNQLGICEKMY53D7T2M}

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	2026-05-17T23:43:45.367065Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1e4400319c5b60b320445331dd8ff3d3046c7f49c37f41f4754988ee065c4907

Aliases

arxiv: 1906.03684 · arxiv_version: 1906.03684v1 · doi: 10.48550/arxiv.1906.03684 · pith_short_12: DZCAAMM4LNQL · pith_short_16: DZCAAMM4LNQLGICE · pith_short_8: DZCAAMM4

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/DZCAAMM4LNQLGICEKMY53D7T2M \
  | 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: 1e4400319c5b60b320445331dd8ff3d3046c7f49c37f41f4754988ee065c4907

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1b20538f6e99b84082e4155ebb090bfa57cbd8ef4c1f925e0ad634564058678c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-09T18:09:09Z",
    "title_canon_sha256": "7fbc13ac89307b4c6922dd8aa854b807668a15b10161c227d9879713313a0794"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.03684",
    "kind": "arxiv",
    "version": 1
  }
}