Pith Number

pith:HZGPGIIE

pith:2024:HZGPGIIE23AQXYQT3WFMOLBZBC

not attested not anchored not stored refs pending

Adapting Gait Frequency for Posture-regulating Humanoid Push-recovery via Hierarchical Model Predictive Control

Junchao Ma, Junheng Li, Quan Nguyen, Zhanhao Le

arxiv:2409.14342 v3 · 2024-09-22 · cs.RO · cs.SY · eess.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{HZGPGIIE23AQXYQT3WFMOLBZBC}

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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.

Cited by

1 paper in Pith

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots

Receipt and verification

First computed	2026-07-05T11:10:47.542059Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3e4cf32104d6c10be213dd8ac72c3908878ed345f53b56147c0dd2cee8a84e09

Aliases

arxiv: 2409.14342 · arxiv_version: 2409.14342v3 · doi: 10.48550/arxiv.2409.14342 · pith_short_12: HZGPGIIE23AQ · pith_short_16: HZGPGIIE23AQXYQT · pith_short_8: HZGPGIIE

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/HZGPGIIE23AQXYQT3WFMOLBZBC \
  | 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: 3e4cf32104d6c10be213dd8ac72c3908878ed345f53b56147c0dd2cee8a84e09

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f0c54e6245a0a4310a283e9ddcd2d230ccc0054fe6cea95a5c3a6cc51601fec7",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-22T07:01:18Z",
    "title_canon_sha256": "49553240f3793e6140d99e4f06dc9b2ca909c63f88fc42ab43477f6834bcf73b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.14342",
    "kind": "arxiv",
    "version": 3
  }
}