Pith Number

pith:M52WNLQ5

pith:2017:M52WNLQ5VVZNWLCBZPWEA3TRZC

not attested not anchored not stored refs pending

A Planning and Control Framework for Humanoid Systems: Robust, Optimal, and Real-time Performance

Ye Zhao

arxiv:1701.05929 v1 · 2017-01-20 · cs.RO · math.OC

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{M52WNLQ5VVZNWLCBZPWEA3TRZC}

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	2026-05-17T23:59:53.976158Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

677566ae1dad72db2c41cbec406e71c8a5d62a13fe42f090ceb3fb08fe7e3b6a

Aliases

arxiv: 1701.05929 · arxiv_version: 1701.05929v1 · doi: 10.48550/arxiv.1701.05929 · pith_short_12: M52WNLQ5VVZN · pith_short_16: M52WNLQ5VVZNWLCB · pith_short_8: M52WNLQ5

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/M52WNLQ5VVZNWLCBZPWEA3TRZC \
  | 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: 677566ae1dad72db2c41cbec406e71c8a5d62a13fe42f090ceb3fb08fe7e3b6a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9bce70bbbf21e52e84c127bbc1caf509d114d784b22874a235f5444af9059076",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-01-20T21:33:58Z",
    "title_canon_sha256": "778882c5aa5dabe34480bfc3b41f00ba5712031c8709c63d26c9b1f87b3506d0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1701.05929",
    "kind": "arxiv",
    "version": 1
  }
}