Pith Number

pith:KS5W44BC

pith:2023:KS5W44BCCJUTASKCR45VNAYUJJ

not attested not anchored not stored refs pending

Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrization

Daniele Pucci, Gabriele Nava, Giulio Romualdi, Hosameldin Awadalla Omer Mohamed, Lorenzo Rapetti, Mohamed Elobaid

arxiv:2305.10917 v1 · 2023-05-18 · 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{KS5W44BCCJUTASKCR45VNAYUJJ}

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	2026-05-29T02:05:31.992136Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

54bb6e702212693049428f3b5683144a644b8da1c47c0b536b465dccd4435561

Aliases

arxiv: 2305.10917 · arxiv_version: 2305.10917v1 · doi: 10.48550/arxiv.2305.10917 · pith_short_12: KS5W44BCCJUT · pith_short_16: KS5W44BCCJUTASKC · pith_short_8: KS5W44BC

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/KS5W44BCCJUTASKCR45VNAYUJJ \
  | 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: 54bb6e702212693049428f3b5683144a644b8da1c47c0b536b465dccd4435561

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "825a7dfbdb5794f842e844d5c025217cd0cf515d92eb902ee43bf3ab170f8318",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-05-18T12:27:17Z",
    "title_canon_sha256": "2df31e6da0fb1bf797adeb5d9da6bfab6eab74ed8791a00676d158182039d0b1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2305.10917",
    "kind": "arxiv",
    "version": 1
  }
}