Pith Number

pith:ST3SKOJR

pith:2023:ST3SKOJRKZHDW4G2XVAI2VZMP6

not attested not anchored not stored refs pending

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots

Aaron M. Johnson, James Zhu, J. Joe Payne

arxiv:2304.00346 v3 · 2023-04-01 · 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{ST3SKOJRKZHDW4G2XVAI2VZMP6}

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	2026-07-05T07:51:59.734397Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

94f7253931564e3b70dabd408d572c7fb1189c3e5d91ee46a3d2bf55fbea7c74

Aliases

arxiv: 2304.00346 · arxiv_version: 2304.00346v3 · doi: 10.48550/arxiv.2304.00346 · pith_short_12: ST3SKOJRKZHD · pith_short_16: ST3SKOJRKZHDW4G2 · pith_short_8: ST3SKOJR

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/ST3SKOJRKZHDW4G2XVAI2VZMP6 \
  | 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: 94f7253931564e3b70dabd408d572c7fb1189c3e5d91ee46a3d2bf55fbea7c74

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1e5771458abe62c230e70d068d12aba51f0a41d341752d5ab26d8cca3965cb18",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-04-01T15:57:55Z",
    "title_canon_sha256": "7cab0caf605ea8397ef3f06478c2fa688d2edd50eb78cc09043a95019a2cce55"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2304.00346",
    "kind": "arxiv",
    "version": 3
  }
}