Pith Number

pith:Q3DDVUV6

pith:2023:Q3DDVUV6WOIJBCZMZQWHHJXFDR

not attested not anchored not stored refs pending

A Model Predictive Capture Point Control Framework for Robust Humanoid Balancing via Ankle, Hip, and Stepping Strategies

Daegyu Lim, Gyeongjae Park, Jaeheung Park, Kwanwoo Lee, Myeong-Ju Kim

arxiv:2307.13243 v3 · 2023-07-25 · 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{Q3DDVUV6WOIJBCZMZQWHHJXFDR}

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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

Hierarchical Reduced-Order Model Predictive Control for Robust Locomotion on Humanoid Robots

Receipt and verification

First computed	2026-07-05T10:58:12.817973Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

86c63ad2beb390908b2ccc2c73a6e51c6af48257cb5036e939de7668fcc872e4

Aliases

arxiv: 2307.13243 · arxiv_version: 2307.13243v3 · doi: 10.48550/arxiv.2307.13243 · pith_short_12: Q3DDVUV6WOIJ · pith_short_16: Q3DDVUV6WOIJBCZM · pith_short_8: Q3DDVUV6

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/Q3DDVUV6WOIJBCZMZQWHHJXFDR \
  | 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: 86c63ad2beb390908b2ccc2c73a6e51c6af48257cb5036e939de7668fcc872e4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "83d3f9c2aca9f7aa27edaf09564f50d14a4a0e6edc08b47ac6dd4091e61b7a7e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-07-25T04:11:47Z",
    "title_canon_sha256": "43e9cbe9bfeb25b912d842ab927173fdec47dd4a9bd3f0fe166174c699f82a90"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2307.13243",
    "kind": "arxiv",
    "version": 3
  }
}