Pith Number

pith:TKD5KA4C

pith:2021:TKD5KA4CR46MI5VBA2IFU22M54

not attested not anchored not stored refs pending

Reactive Locomotion Decision-Making and Robust Motion Planning for Real-Time Perturbation Recovery

Nathan Boyd, Ye Zhao, Zhaoyuan Gu

arxiv:2110.03037 v3 · 2021-10-06 · 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{TKD5KA4CR46MI5VBA2IFU22M54}

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	2026-07-05T04:01:43.868736Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9a87d503828f3cc476a106905a6b4cef11a3c43790a94b62586c38196e1fc964

Aliases

arxiv: 2110.03037 · arxiv_version: 2110.03037v3 · doi: 10.48550/arxiv.2110.03037 · pith_short_12: TKD5KA4CR46M · pith_short_16: TKD5KA4CR46MI5VB · pith_short_8: TKD5KA4C

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/TKD5KA4CR46MI5VBA2IFU22M54 \
  | 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: 9a87d503828f3cc476a106905a6b4cef11a3c43790a94b62586c38196e1fc964

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4648d83c9ecfe102715752b7f566fa5abc4192f34e2699b1c0d3e5c768da139d",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-06T19:49:21Z",
    "title_canon_sha256": "f20976bbfef3d22097b1eb631be89a2ee2e2da6eb350364573b5d61f96fc0dba"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.03037",
    "kind": "arxiv",
    "version": 3
  }
}