Pith Number

pith:PCNUA7CL

pith:2025:PCNUA7CL2GFS2TVH4UOEJRQBCF

not attested not anchored not stored refs pending

Multi-Sensor Fusion for Quadruped Robot State Estimation using Invariant Filtering and Smoothing

Claudio Semini, Geoff Fink, Hae-Won Park, Hajun Kim, Jo\~ao Carlos Virgolino Soares, Ylenia Nistic\`o

arxiv:2504.20615 v1 · 2025-04-29 · 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{PCNUA7CL2GFS2TVH4UOEJRQBCF}

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	2026-07-05T10:55:45.625524Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

789b407c4bd18b2d4ea7e51c44c60111789f8ac8595e27d8c6cd7c3ecd4bb985

Aliases

arxiv: 2504.20615 · arxiv_version: 2504.20615v1 · doi: 10.48550/arxiv.2504.20615 · pith_short_12: PCNUA7CL2GFS · pith_short_16: PCNUA7CL2GFS2TVH · pith_short_8: PCNUA7CL

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/PCNUA7CL2GFS2TVH4UOEJRQBCF \
  | 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: 789b407c4bd18b2d4ea7e51c44c60111789f8ac8595e27d8c6cd7c3ecd4bb985

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b29a93ad905f7c3433bd6b8ba1139aa916914ad4c8592e8fed547681d99ab834",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-29T10:29:00Z",
    "title_canon_sha256": "1194c9cde63eea25dea010f3218cb9a4ce4e2b5f18e34ed860f1ab99225ba7c2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.20615",
    "kind": "arxiv",
    "version": 1
  }
}