Pith Number

pith:SWBEDSHA

pith:2025:SWBEDSHA6IFFBSGRXUPC72YJTA

not attested not anchored not stored refs pending

RAKOMO: Reachability-Aware K-Order Markov Path Optimization for Quadrupedal Loco-Manipulation

Abdelrahman Abdalla, Claudio Semini, Ioannis Havoutis, Kim Tien Ly, Mattia Risiglione, Victor Barasuol

arxiv:2507.19652 v1 · 2025-07-25 · 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{SWBEDSHA6IFFBSGRXUPC72YJTA}

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	2026-07-05T11:43:38.549754Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

958241c8e0f20a50c8d1bd1e2feb0998169608d6a917af5fa797463ef2db3db0

Aliases

arxiv: 2507.19652 · arxiv_version: 2507.19652v1 · doi: 10.48550/arxiv.2507.19652 · pith_short_12: SWBEDSHA6IFF · pith_short_16: SWBEDSHA6IFFBSGR · pith_short_8: SWBEDSHA

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/SWBEDSHA6IFFBSGRXUPC72YJTA \
  | 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: 958241c8e0f20a50c8d1bd1e2feb0998169608d6a917af5fa797463ef2db3db0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "150c33a976aa06d8ffa012b168c1dfc6f8675a7db7b5bc4bad72e1e2ddd983c0",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-07-25T19:55:35Z",
    "title_canon_sha256": "30c7449cf85e1b96a84b0ec6787a678ecf21092150c482bc64cb61539fdab117"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2507.19652",
    "kind": "arxiv",
    "version": 1
  }
}