Pith Number

pith:PKWRUKLP

pith:2016:PKWRUKLPFLMVQ2TYZZDXVKGHBN

not attested not anchored not stored refs pending

An Efficient Optimal Planning and Control Framework For Quadrupedal Locomotion

Alexander W. Winkler, Farbod Farshidian, Gonzalo Rey, Jonas Buchli, Michael Neunert

arxiv:1609.09861 v2 · 2016-09-30 · cs.SY · 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{PKWRUKLPFLMVQ2TYZZDXVKGHBN}

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	2026-05-18T00:24:53.204502Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7aad1a296f2ad9586a78ce477aa8c70b503868723fce9d06a1310d3f0963311a

Aliases

arxiv: 1609.09861 · arxiv_version: 1609.09861v2 · doi: 10.48550/arxiv.1609.09861 · pith_short_12: PKWRUKLPFLMV · pith_short_16: PKWRUKLPFLMVQ2TY · pith_short_8: PKWRUKLP

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/PKWRUKLPFLMVQ2TYZZDXVKGHBN \
  | 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: 7aad1a296f2ad9586a78ce477aa8c70b503868723fce9d06a1310d3f0963311a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8d11ceb9e6f834d628ad7b070ad641c1636a65153d4d887a703beb74578100c8",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2016-09-30T19:05:28Z",
    "title_canon_sha256": "b16a9db77907833f0b845dcabeee280b42f18119a11410f7064ea462465823b6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1609.09861",
    "kind": "arxiv",
    "version": 2
  }
}