Pith Number

pith:S2RAGJZZ

pith:2025:S2RAGJZZW5E5YZLBK2QG3QD35L

not attested not anchored not stored refs pending

Bipedal Robust Walking on Uneven Footholds: Piecewise Slope LIPM with Discrete Model Predictive Control

Junjie Liu, Sishu Li, Songhao Piao, Xiaokun Leng, Xizhe Zang, Yapeng Shi, Yongqiang Wu

arxiv:2504.02255 v1 · 2025-04-03 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{S2RAGJZZW5E5YZLBK2QG3QD35L}

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	2026-07-05T10:43:53.531130Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

96a2032739b749dc656156a06dc07beadc8f4267931af77d255f42d24e5d1540

Aliases

arxiv: 2504.02255 · arxiv_version: 2504.02255v1 · doi: 10.48550/arxiv.2504.02255 · pith_short_12: S2RAGJZZW5E5 · pith_short_16: S2RAGJZZW5E5YZLB · pith_short_8: S2RAGJZZ

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/S2RAGJZZW5E5YZLBK2QG3QD35L \
  | 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: 96a2032739b749dc656156a06dc07beadc8f4267931af77d255f42d24e5d1540

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d0e46ba62118e816e7957bfbdbcfa7f2185083fb7d6d068a1fc3104d3dfa7381",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-03T03:54:10Z",
    "title_canon_sha256": "78ece532f8b3c1961004b8d32145e48a4ca69eb24ccd41367c83f8b5b86cb25b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.02255",
    "kind": "arxiv",
    "version": 1
  }
}