Pith Number

pith:JKGX2JWH

pith:2020:JKGX2JWHRKPLS2VIKMK7UPVTYI

not attested not anchored not stored refs pending

Multi-Layered Safety for Legged Robots via Control Barrier Functions and Model Predictive Control

Aaron D. Ames, Andrew J. Taylor, Marco Hutter, Ruben Grandia

arxiv:2011.00032 v2 · 2020-10-30 · 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{JKGX2JWHRKPLS2VIKMK7UPVTYI}

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.

Cited by

1 paper in Pith

Scalable Construction of Spiking Neural Networks using up to thousands of GPUs

Receipt and verification

First computed	2026-07-05T02:46:01.310529Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4a8d7d26c78a9eb96aa85315fa3eb3c2302446e6d976cd9ae8900117c4dcd2a3

Aliases

arxiv: 2011.00032 · arxiv_version: 2011.00032v2 · doi: 10.48550/arxiv.2011.00032 · pith_short_12: JKGX2JWHRKPL · pith_short_16: JKGX2JWHRKPLS2VI · pith_short_8: JKGX2JWH

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/JKGX2JWHRKPLS2VIKMK7UPVTYI \
  | 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: 4a8d7d26c78a9eb96aa85315fa3eb3c2302446e6d976cd9ae8900117c4dcd2a3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "0adfe2609049561338dcc0ee5a042a402e9f6d31cf5bf687c3ece8e4caecb85c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-10-30T18:27:00Z",
    "title_canon_sha256": "fe0d680621b42c7725935641c64c47ce17b2497be43e919813452fc7fb8334a0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2011.00032",
    "kind": "arxiv",
    "version": 2
  }
}