Pith Number

pith:O6BG4Z2H

pith:2021:O6BG4Z2HRORYNPXLI4S42TWGRF

not attested not anchored not stored refs pending

iLQR for Piecewise-Smooth Hybrid Dynamical Systems

Aaron M. Johnson, George Council, Nathan J. Kong

arxiv:2103.14584 v2 · 2021-03-26 · 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{O6BG4Z2HRORYNPXLI4S42TWGRF}

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

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control

Receipt and verification

First computed	2026-07-05T03:12:02.055390Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

77826e67478ba386beeb4725cd4ec6896177e7022dd938b10a75d188e6cd5846

Aliases

arxiv: 2103.14584 · arxiv_version: 2103.14584v2 · doi: 10.48550/arxiv.2103.14584 · pith_short_12: O6BG4Z2HRORY · pith_short_16: O6BG4Z2HRORYNPXL · pith_short_8: O6BG4Z2H

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/O6BG4Z2HRORYNPXLI4S42TWGRF \
  | 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: 77826e67478ba386beeb4725cd4ec6896177e7022dd938b10a75d188e6cd5846

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "848040b58bb25cb67bece8cb91a7cf01f971c811a5741f08adb542e2925d2fad",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-26T16:45:23Z",
    "title_canon_sha256": "835a8e0a583d7778ee269db2be1adcc00980d0e8d00eacedb74912e70d8a065f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.14584",
    "kind": "arxiv",
    "version": 2
  }
}