Pith Number

pith:EY6V4GQF

pith:2020:EY6V4GQF327HTVELXMHL6JHRGA

not attested not anchored not stored refs pending

Impact-aware humanoid robot motion generation with a quadratic optimization controller

Abderrahmane Kheddar, Arnaud Tanguy, Pierre Gergondet, Yuquan Wang

arxiv:2001.08454 v2 · 2020-01-23 · cs.RO · eess.SP

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EY6V4GQF327HTVELXMHL6JHRGA}

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	2026-07-05T01:05:42.177313Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

263d5e1a05debe79d48bbb0ebf24f13022de081a880d812f4e395f15a7fdf88b

Aliases

arxiv: 2001.08454 · arxiv_version: 2001.08454v2 · doi: 10.48550/arxiv.2001.08454 · pith_short_12: EY6V4GQF327H · pith_short_16: EY6V4GQF327HTVEL · pith_short_8: EY6V4GQF

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/EY6V4GQF327HTVELXMHL6JHRGA \
  | 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: 263d5e1a05debe79d48bbb0ebf24f13022de081a880d812f4e395f15a7fdf88b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5cbc1df8b72c45041249760465e79ebaf8962e91cf5be93d113baf8d5def8c7a",
    "cross_cats_sorted": [
      "eess.SP"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-01-23T11:30:15Z",
    "title_canon_sha256": "49e24a89d80d4f9886a69605166f6c225a2858f7318ec972459c83c1e02dc8e0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2001.08454",
    "kind": "arxiv",
    "version": 2
  }
}