Pith Number

pith:U77C57CQ

pith:2019:U77C57CQRHATJLHDY7MTM5AT7K

not attested not anchored not stored refs pending

Hierarchical and Safe Motion Control for Cooperative Locomotion of Robotic Guide Dogs and Humans: A Hybrid Systems Approach

Aaron D. Ames, Alexander Leonessa, Kaveh Akbari Hamed, Vinay R. Kamidi, Wen-Loong Ma

arxiv:1904.03158 v1 · 2019-04-05 · 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{U77C57CQRHATJLHDY7MTM5AT7K}

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	2026-05-17T23:49:18.418043Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a7fe2efc5089c134ace3c7d9367413fabce6076a797bb084fa23bf47823684cb

Aliases

arxiv: 1904.03158 · arxiv_version: 1904.03158v1 · doi: 10.48550/arxiv.1904.03158 · pith_short_12: U77C57CQRHAT · pith_short_16: U77C57CQRHATJLHD · pith_short_8: U77C57CQ

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/U77C57CQRHATJLHDY7MTM5AT7K \
  | 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: a7fe2efc5089c134ace3c7d9367413fabce6076a797bb084fa23bf47823684cb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cdd4116361c5dece204eb39910ac41e677bee1ff6257430544da6d56950b5a88",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "math.OC",
    "submitted_at": "2019-04-05T16:57:14Z",
    "title_canon_sha256": "beedfcb7cc5e9a683c412c132bef7033e4c2fe8d30b9a72d90970eb84856e9d0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.03158",
    "kind": "arxiv",
    "version": 1
  }
}