Pith Number

pith:UIPNWOCI

pith:2021:UIPNWOCIMDNOVKXTIRZ2S4C2O6

not attested not anchored not stored refs pending

Vision-aided Dynamic Quadrupedal Locomotion on Discrete Terrain using Motion Libraries

Akshara Rai, Ayush Agrawal, Koushil Sreenath, Shuxiao Chen

arxiv:2110.00891 v2 · 2021-10-02 · cs.RO · cs.SY · eess.SY · 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{UIPNWOCIMDNOVKXTIRZ2S4C2O6}

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	2026-07-05T04:01:57.041146Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f

Aliases

arxiv: 2110.00891 · arxiv_version: 2110.00891v2 · doi: 10.48550/arxiv.2110.00891 · pith_short_12: UIPNWOCIMDNO · pith_short_16: UIPNWOCIMDNOVKXT · pith_short_8: UIPNWOCI

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/UIPNWOCIMDNOVKXTIRZ2S4C2O6 \
  | 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: a21edb384860daeaaaf34473a9705a778ca91cf0a45811584b26a1012eb86d4f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d3d92f85229427b98aaed50723e9e06fa9f1781bfed3786f6de9d047fecf42a5",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY",
      "math.OC"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-02T23:19:36Z",
    "title_canon_sha256": "b122b47a443e80c283fb8a6d7a2158cc3602568782a292dd13b53178f48d787a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.00891",
    "kind": "arxiv",
    "version": 2
  }
}