Pith Number

pith:IFMRA5UR

pith:2019:IFMRA5URCFXPF2DFHWT5FAV7C7

not attested not anchored not stored refs pending

Dynamic Walking with Compliance on a Cassie Bipedal Robot

Aaron D. Ames, Jacob Reher, Wen-Loong Ma

arxiv:1904.11104 v1 · 2019-04-25 · 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{IFMRA5URCFXPF2DFHWT5FAV7C7}

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	2026-05-17T23:47:45.790609Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4159107691116ef2e8653da7d282bf17ee6db2ad0958bfa66850665d6c74986f

Aliases

arxiv: 1904.11104 · arxiv_version: 1904.11104v1 · doi: 10.48550/arxiv.1904.11104 · pith_short_12: IFMRA5URCFXP · pith_short_16: IFMRA5URCFXPF2DF · pith_short_8: IFMRA5UR

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/IFMRA5URCFXPF2DFHWT5FAV7C7 \
  | 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: 4159107691116ef2e8653da7d282bf17ee6db2ad0958bfa66850665d6c74986f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "16319cb828e96f6bca1e428f874c65148c750cf6e73a9d792345ba3642c26a72",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-25T00:20:26Z",
    "title_canon_sha256": "c079316d2161d42899af7c8eeba94399be80fd8e05dfb68ac75a26752e60ec0d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.11104",
    "kind": "arxiv",
    "version": 1
  }
}