Pith Number

pith:H5TA7SU7

pith:2025:H5TA7SU7J26BOPN3CWF5OC523V

not attested not anchored not stored refs pending

Real-time Whole-body Model Predictive Control for Bipedal Locomotion with a Novel Kino-dynamic Model and Warm-start Method

Hokyun Lee, Jaeheung Park, Junhyung Kim

arxiv:2505.19540 v1 · 2025-05-26 · 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{H5TA7SU7J26BOPN3CWF5OC523V}

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	2026-07-05T11:09:32.052123Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3f660fca9f4ebc173dbb158bd70bbadd70ce9137d3ffdb425cf3eaecc9c590be

Aliases

arxiv: 2505.19540 · arxiv_version: 2505.19540v1 · doi: 10.48550/arxiv.2505.19540 · pith_short_12: H5TA7SU7J26B · pith_short_16: H5TA7SU7J26BOPN3 · pith_short_8: H5TA7SU7

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/H5TA7SU7J26BOPN3CWF5OC523V \
  | 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: 3f660fca9f4ebc173dbb158bd70bbadd70ce9137d3ffdb425cf3eaecc9c590be

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f181eff36280ed28ffb7b2ce98d5c41e551f61bb7b7ee844fe436a7464b67cd8",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-26T06:01:25Z",
    "title_canon_sha256": "0bb696f9f0e5e2c0e890114c78a58c484f8cc67327cb43322eb638bd7abbfb3e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.19540",
    "kind": "arxiv",
    "version": 1
  }
}