Pith Number

pith:S4CJOZAQ

pith:2017:S4CJOZAQLF5J3SEI33RSJNEIHG

not attested not anchored not stored refs pending

Fast Trajectory Optimization for Legged Robots using Vertex-based ZMP Constraints

Alexander W Winkler, Diego Pardo, Farbod Farshidian, Jonas Buchli, Michael Neunert

arxiv:1705.10313 v1 · 2017-05-27 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{S4CJOZAQLF5J3SEI33RSJNEIHG}

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	2026-05-18T00:43:31.298406Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9704976410597a9dc888dee324b48839a2147b28ada94705e92865a53125bdc9

Aliases

arxiv: 1705.10313 · arxiv_version: 1705.10313v1 · doi: 10.48550/arxiv.1705.10313 · pith_short_12: S4CJOZAQLF5J · pith_short_16: S4CJOZAQLF5J3SEI · pith_short_8: S4CJOZAQ

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/S4CJOZAQLF5J3SEI33RSJNEIHG \
  | 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: 9704976410597a9dc888dee324b48839a2147b28ada94705e92865a53125bdc9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "dd7474a2eb54df9a39b0376c202f54d2725e66aad967949811ca4a5b79966865",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-05-27T12:17:08Z",
    "title_canon_sha256": "b766bf51b854db4b3257bb1dc3d1ad80069d10f0f40aa7a8457169aafa06afa6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1705.10313",
    "kind": "arxiv",
    "version": 1
  }
}