Pith Number

pith:Q2YKZ2HT

pith:2025:Q2YKZ2HTG65XP5YV6OKSZADFFP

not attested not anchored not stored refs pending

Perceptive Mixed-Integer Footstep Control for Underactuated Bipedal Walking on Rough Terrain

Brian Acosta, Michael Posa

arxiv:2501.19391 v2 · 2025-01-31 · 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{Q2YKZ2HTG65XP5YV6OKSZADFFP}

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	2026-07-05T11:01:03.314293Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

86b0ace8f337bb77f715f3952c80652be70a105dce2c2417b4484ffee76feb9a

Aliases

arxiv: 2501.19391 · arxiv_version: 2501.19391v2 · doi: 10.48550/arxiv.2501.19391 · pith_short_12: Q2YKZ2HTG65X · pith_short_16: Q2YKZ2HTG65XP5YV · pith_short_8: Q2YKZ2HT

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/Q2YKZ2HTG65XP5YV6OKSZADFFP \
  | 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: 86b0ace8f337bb77f715f3952c80652be70a105dce2c2417b4484ffee76feb9a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "05af0a5c809d6749f8723b600c57e4643abf8bce91bd4d9e8fd5ce218714b3e6",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-01-31T18:47:21Z",
    "title_canon_sha256": "f73d95ef0437b2434bd84632bb450ec52c9688f5168fdea10e3e77d581988d94"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2501.19391",
    "kind": "arxiv",
    "version": 2
  }
}