Pith Number

pith:TUK7T52U

pith:2018:TUK7T52UTGTOPSNYHPB2VWDYRM

not attested not anchored not stored refs pending

Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction

Brahayam Ponton, Dmitry Berenson, Ludovic Righetti, Yu-Chi Lin

arxiv:1810.13082 v2 · 2018-10-31 · cs.RO

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{TUK7T52UTGTOPSNYHPB2VWDYRM}

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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.

Cited by

1 paper in Pith

Footstep Planning for Autonomous Walking Over Rough Terrain

Receipt and verification

First computed	2026-05-17T23:52:21.859386Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9d15f9f75499a6e7c9b83bc3aad8788b16f99c47a646b2bebf1959cf41c04ccb

Aliases

arxiv: 1810.13082 · arxiv_version: 1810.13082v2 · doi: 10.48550/arxiv.1810.13082 · pith_short_12: TUK7T52UTGTO · pith_short_16: TUK7T52UTGTOPSNY · pith_short_8: TUK7T52U

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/TUK7T52UTGTOPSNYHPB2VWDYRM \
  | 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: 9d15f9f75499a6e7c9b83bc3aad8788b16f99c47a646b2bebf1959cf41c04ccb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9ab9c3991bb4e4130d98951fb2276fcd5978a80e072728bf54f7b314c7756345",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-10-31T02:49:03Z",
    "title_canon_sha256": "8a9549ea0626fbc1fd1e78c58d754c472ad24bc78b2c4a4f42008d70985d1074"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1810.13082",
    "kind": "arxiv",
    "version": 2
  }
}