Pith Number

pith:RBNTLFGK

pith:2017:RBNTLFGKJOPD6RTUXJUZZTWSVE

not attested not anchored not stored refs pending

Robust Bipedal Locomotion Control Based on Model Predictive Control and Divergent Component of Motion

Aghil Yousefi-Koma, Masoud Shariat-Panahi, Milad Shafiee-Ashtiani

arxiv:1702.08742 v1 · 2017-02-28 · 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{RBNTLFGKJOPD6RTUXJUZZTWSVE}

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	2026-05-18T00:49:48.005332Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

885b3594ca4b9e3f4674ba699cced2a93fddb51ddcbbf3de1b8cbee1b1b1fd14

Aliases

arxiv: 1702.08742 · arxiv_version: 1702.08742v1 · doi: 10.48550/arxiv.1702.08742 · pith_short_12: RBNTLFGKJOPD · pith_short_16: RBNTLFGKJOPD6RTU · pith_short_8: RBNTLFGK

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/RBNTLFGKJOPD6RTUXJUZZTWSVE \
  | 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: 885b3594ca4b9e3f4674ba699cced2a93fddb51ddcbbf3de1b8cbee1b1b1fd14

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e7b4222ba0baae4e49898c15c054ff519b5512a05738f2566ace8ab4990c2d26",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-02-28T11:06:59Z",
    "title_canon_sha256": "27aae77477233938a60ab8369789fe7f3838c4840309828330c8b615b58d774f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1702.08742",
    "kind": "arxiv",
    "version": 1
  }
}