Pith Number

pith:P2A7R76C

pith:2021:P2A7R76CKDOZXA5HN3NFZX6VXQ

not attested not anchored not stored refs pending

Toward Safety-Aware Informative Motion Planning for Legged Robots

Jessy W. Grizzle, Maani Ghaffari, Sangli Teng, Yukai Gong

arxiv:2103.14252 v1 · 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{P2A7R76CKDOZXA5HN3NFZX6VXQ}

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

2 papers in Pith

LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies

Embedding Hybrid Systems into Continuous Latent Vector Fields

Receipt and verification

First computed	2026-07-05T02:26:31.959483Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7e81f8ffc250dd9b83a76eda5cdfd5bc0f13f4bbd80134d3d88400e081ece81d

Aliases

arxiv: 2103.14252 · arxiv_version: 2103.14252v1 · doi: 10.48550/arxiv.2103.14252 · pith_short_12: P2A7R76CKDOZ · pith_short_16: P2A7R76CKDOZXA5H · pith_short_8: P2A7R76C

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/P2A7R76CKDOZXA5HN3NFZX6VXQ \
  | 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: 7e81f8ffc250dd9b83a76eda5cdfd5bc0f13f4bbd80134d3d88400e081ece81d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b232de02d7d727d78fb02acd20847c6b286387e9b93a1f4f1239cc2aa1b9a2fd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-26T04:29:18Z",
    "title_canon_sha256": "d860e28448b885d3959743e828a789af806fc1f6099986945062da182d49c383"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.14252",
    "kind": "arxiv",
    "version": 1
  }
}