Pith Number

pith:L3445L2B

pith:2023:L3445L2B7ZO33PYFWF2MNTPAYG

not attested not anchored not stored refs pending

Multi-contact Stochastic Predictive Control for Legged Robots with Contact Locations Uncertainty

Ahmad Gazar, Andrea Del Prete, Ludovic Righetti, Majid Khadiv

arxiv:2309.04469 v2 · 2023-09-08 · 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{L3445L2B7ZO33PYFWF2MNTPAYG}

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	2026-07-05T08:31:05.303250Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5ef9ceaf41fe5dbdbf05b174c6cde0c18a56825baae0840484529218c47bf3ad

Aliases

arxiv: 2309.04469 · arxiv_version: 2309.04469v2 · doi: 10.48550/arxiv.2309.04469 · pith_short_12: L3445L2B7ZO3 · pith_short_16: L3445L2B7ZO33PYF · pith_short_8: L3445L2B

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/L3445L2B7ZO33PYFWF2MNTPAYG \
  | 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: 5ef9ceaf41fe5dbdbf05b174c6cde0c18a56825baae0840484529218c47bf3ad

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "19476034a36ee0f8369b68ecdacf8e185728e7c3a9657d2a8a63fc85853c463e",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-08T17:55:35Z",
    "title_canon_sha256": "b8c501e666d549937d0449bfaee4ab5ec000b1fc8d9ace50bf36c0d8de6146c1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.04469",
    "kind": "arxiv",
    "version": 2
  }
}