Pith Number

pith:UMSSCJWU

pith:2021:UMSSCJWU4AEQFLHXTUAKJLKOXW

not attested not anchored not stored refs pending

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

Farbod Farshidian, Jean-Pierre Sleiman, Marco Hutter, Maria Vittoria Minniti

arxiv:2103.00946 v1 · 2021-03-01 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{UMSSCJWU4AEQFLHXTUAKJLKOXW}

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.

Cited by

1 paper in Pith

Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing

Receipt and verification

First computed	2026-07-05T02:19:11.198048Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a3252126d4e00902acf79d00a4ad4ebdaeb1c43cdf2847fea4d4366d29b8e457

Aliases

arxiv: 2103.00946 · arxiv_version: 2103.00946v1 · doi: 10.48550/arxiv.2103.00946 · pith_short_12: UMSSCJWU4AEQ · pith_short_16: UMSSCJWU4AEQFLHX · pith_short_8: UMSSCJWU

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/UMSSCJWU4AEQFLHXTUAKJLKOXW \
  | 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: a3252126d4e00902acf79d00a4ad4ebdaeb1c43cdf2847fea4d4366d29b8e457

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "326b560b4fe946867b0e7a504b12fa67f90cee131f25d600e756542725326a0d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-01T12:19:51Z",
    "title_canon_sha256": "ed7fd4381e3ddc2b425f0842f05a2266a4332d07b0e908b9eaa35cda68216137"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.00946",
    "kind": "arxiv",
    "version": 1
  }
}