Pith Number

pith:M72YHVGH

pith:2015:M72YHVGHQDMH3PVG6JXVDXKYTL

not attested not anchored not stored refs pending

A Framework for Planning and Controlling Non-Periodic Bipedal Locomotion

Benito R. Fernandez, Luis Sentis, Ye Zhao

arxiv:1511.04628 v1 · 2015-11-14 · cs.RO · cs.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{M72YHVGHQDMH3PVG6JXVDXKYTL}

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	2026-05-18T01:26:52.173074Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

67f583d4c780d87dbea6f26f51dd589ae90220a25683fa420e0e90b7ebee8ec0

Aliases

arxiv: 1511.04628 · arxiv_version: 1511.04628v1 · doi: 10.48550/arxiv.1511.04628 · pith_short_12: M72YHVGHQDMH · pith_short_16: M72YHVGHQDMH3PVG · pith_short_8: M72YHVGH

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/M72YHVGHQDMH3PVG6JXVDXKYTL \
  | 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: 67f583d4c780d87dbea6f26f51dd589ae90220a25683fa420e0e90b7ebee8ec0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "18e51074ebe9716be0b119a37fe946a1f1d3f9e97200c4a7123e11d9484ddaee",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2015-11-14T22:12:13Z",
    "title_canon_sha256": "990326b4eaceb45b4f90f0f1b55c0a870c569c3d717abaa1d91da5dff25ba491"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1511.04628",
    "kind": "arxiv",
    "version": 1
  }
}