Pith Number

pith:H3LDXLH7

pith:2016:H3LDXLH7ZDIMJZDLYI5TUHB3GB

not attested not anchored not stored refs pending

A Generalized Mixed-Integer Convex Program for Multilegged Footstep Planning on Uneven Terrain

Bernardo Aceituno-Cabezas, Gerardo Fernandez-Lopez, Jose Cappelletto, Juan C. Grieco

arxiv:1612.02109 v2 · 2016-12-07 · 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{H3LDXLH7ZDIMJZDLYI5TUHB3GB}

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	2026-05-18T00:53:20.448954Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3ed63bacffc8d0c4e46bc23b3a1c3b306eadd4d2506a9280b3cd83c9ec17c6ef

Aliases

arxiv: 1612.02109 · arxiv_version: 1612.02109v2 · doi: 10.48550/arxiv.1612.02109 · pith_short_12: H3LDXLH7ZDIM · pith_short_16: H3LDXLH7ZDIMJZDL · pith_short_8: H3LDXLH7

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/H3LDXLH7ZDIMJZDLYI5TUHB3GB \
  | 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: 3ed63bacffc8d0c4e46bc23b3a1c3b306eadd4d2506a9280b3cd83c9ec17c6ef

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "01a32eff3287ad8219a803d2162fda2cc3f7e1db72fc887d1d1a3d3db351b6c7",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-12-07T04:08:58Z",
    "title_canon_sha256": "da479c521dffe6ae9638bb820be0396847149fe044c884abbb5f7643bc81a346"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1612.02109",
    "kind": "arxiv",
    "version": 2
  }
}