Pith Number

pith:RLA5JJWA

pith:2017:RLA5JJWA4DUXF7DGLQQQWQVP4N

not attested not anchored not stored refs pending

On Time Optimization of Centroidal Momentum Dynamics

Alexander Herzog, Andrea Del Prete, Brahayam Ponton, Ludovic Righetti, Stefan Schaal

arxiv:1709.09265 v3 · 2017-09-26 · 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{RLA5JJWA4DUXF7DGLQQQWQVP4N}

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	2026-05-18T00:22:39.470922Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8ac1d4a6c0e0e972fc665c210b42afe37c60893ff0f0875c2f963f1a4d74a148

Aliases

arxiv: 1709.09265 · arxiv_version: 1709.09265v3 · doi: 10.48550/arxiv.1709.09265 · pith_short_12: RLA5JJWA4DUX · pith_short_16: RLA5JJWA4DUXF7DG · pith_short_8: RLA5JJWA

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/RLA5JJWA4DUXF7DGLQQQWQVP4N \
  | 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: 8ac1d4a6c0e0e972fc665c210b42afe37c60893ff0f0875c2f963f1a4d74a148

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e71ddc70ea06401cebc2310cd5bfa760beaee4b482906cbf83d727eada8ed8bf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-09-26T21:25:47Z",
    "title_canon_sha256": "1448a222c5e081de111e76aa2b0ed61ec86f3af6617b33ae71af33f7fd1f0992"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1709.09265",
    "kind": "arxiv",
    "version": 3
  }
}