Pith Number

pith:KPTMTPYU

pith:2020:KPTMTPYUKRA5EI7YEKC3XGJV7V

not attested not anchored not stored refs pending

Adaptive Force-based Control for Legged Robots

Mohsen Sombolestan, Quan Nguyen, Yiyu Chen

arxiv:2011.06236 v4 · 2020-11-12 · 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{KPTMTPYUKRA5EI7YEKC3XGJV7V}

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

MULE: Multi-terrain and Unknown Load Adaptation for Effective Quadrupedal Locomotion

Receipt and verification

First computed	2026-07-05T03:41:02.037981Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

53e6c9bf145441d223f82285bb9935fd41ad4679faab1c5ac6ac8ebb964a4783

Aliases

arxiv: 2011.06236 · arxiv_version: 2011.06236v4 · doi: 10.48550/arxiv.2011.06236 · pith_short_12: KPTMTPYUKRA5 · pith_short_16: KPTMTPYUKRA5EI7Y · pith_short_8: KPTMTPYU

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/KPTMTPYUKRA5EI7YEKC3XGJV7V \
  | 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: 53e6c9bf145441d223f82285bb9935fd41ad4679faab1c5ac6ac8ebb964a4783

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "489fe00f73145ba3c32ed1408560567a90786f267fe7a57a398e2b0960e86005",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-11-12T07:19:33Z",
    "title_canon_sha256": "96bb1310066f111895a54d7097394c915514bd99100adda4760328c9b7996702"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2011.06236",
    "kind": "arxiv",
    "version": 4
  }
}