Pith Number

pith:QGWA5YC2

pith:2017:QGWA5YC2JEHATNBVUHCRLOI7MM

not attested not anchored not stored refs pending

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds

Carmine D. Bellicoso, Christian Gehring, Jan Carius, Jonas Buchli, Marco Hutter, Markus Giftthaler, Markus St\"auble, Michael Neunert

arxiv:1712.02889 v1 · 2017-12-07 · 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{QGWA5YC2JEHATNBVUHCRLOI7MM}

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	2026-05-18T00:14:46.825882Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

81ac0ee05a490e09b435a1c515b91f633b40cd531b89d93518871ea7740a8253

Aliases

arxiv: 1712.02889 · arxiv_version: 1712.02889v1 · doi: 10.48550/arxiv.1712.02889 · pith_short_12: QGWA5YC2JEHA · pith_short_16: QGWA5YC2JEHATNBV · pith_short_8: QGWA5YC2

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/QGWA5YC2JEHATNBVUHCRLOI7MM \
  | 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: 81ac0ee05a490e09b435a1c515b91f633b40cd531b89d93518871ea7740a8253

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a891f279fd7cb956bb5cbbc58e3cf4c1526af72ee6d9118a24b520cd56477851",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-12-07T23:25:15Z",
    "title_canon_sha256": "4203deae3cfd12c2f61757ea3cb5bf80bec44a8de5d435b406cd66050d6226c9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1712.02889",
    "kind": "arxiv",
    "version": 1
  }
}