Pith Number

pith:PLKQ4JLR

pith:2023:PLKQ4JLRVOW2MO7UAZSQ2ZCSGI

not attested not anchored not stored refs pending

Bipedal Walking on Constrained Footholds with MPC Footstep Control

Brian Acosta, Michael Posa

arxiv:2309.07993 v1 · 2023-09-14 · 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{PLKQ4JLRVOW2MO7UAZSQ2ZCSGI}

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

Robust Push Recovery on Bipedal Robots: Leveraging Multi-Domain Hybrid Systems with Reduced-Order Model Predictive Control

Receipt and verification

First computed	2026-07-05T06:51:00.398112Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7ad50e2571abada63bf406650d6452323a31100dfa02bc34df7646eeb500613e

Aliases

arxiv: 2309.07993 · arxiv_version: 2309.07993v1 · doi: 10.48550/arxiv.2309.07993 · pith_short_12: PLKQ4JLRVOW2 · pith_short_16: PLKQ4JLRVOW2MO7U · pith_short_8: PLKQ4JLR

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/PLKQ4JLRVOW2MO7UAZSQ2ZCSGI \
  | 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: 7ad50e2571abada63bf406650d6452323a31100dfa02bc34df7646eeb500613e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5fe371e3fab5abe52a557f47c92b4205b147f2e4f309aa94288074e9433273cf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-14T19:08:08Z",
    "title_canon_sha256": "7a61cec8688cd000e864b1568f9f76d5f3c3d384aaaf27c9d606c34a5d7a223b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.07993",
    "kind": "arxiv",
    "version": 1
  }
}