Pith Number

pith:QAFCEG3S

pith:2016:QAFCEG3SE32LVHLSY5UC6NTW7P

not attested not anchored not stored refs pending

Trajectory Optimization Through Contacts and Automatic Gait Discovery for Quadrupeds

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

arxiv:1607.04537 v1 · 2016-07-15 · 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{QAFCEG3SE32LVHLSY5UC6NTW7P}

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	2026-05-18T01:11:00.936528Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5

Aliases

arxiv: 1607.04537 · arxiv_version: 1607.04537v1 · doi: 10.48550/arxiv.1607.04537 · pith_short_12: QAFCEG3SE32L · pith_short_16: QAFCEG3SE32LVHLS · pith_short_8: QAFCEG3S

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/QAFCEG3SE32LVHLSY5UC6NTW7P \
  | 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: 800a221b7226f4ba9d72c7682f3676fbc1472f9b18dc0234a882102e425962f5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "889757987df1e535f6ad04238083cd532aac2a5f29523341d9059a9eef7106dc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-07-15T14:50:31Z",
    "title_canon_sha256": "1036e19d50743016e669ded41c17e77df9a676a9280f8b8931b5ae6c5608ccee"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1607.04537",
    "kind": "arxiv",
    "version": 1
  }
}