Pith Number

pith:UVMWCUXS

pith:2021:UVMWCUXSMTIDUXLCP32DVNOR2P

not attested not anchored not stored refs pending

Controlling Pivoting Gait using Graph Model Predictive Control

Ang Zhang, Keisuke Koyama, Kensuke Harada, Weiwei Wan

arxiv:2104.09689 v1 · 2021-04-19 · 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{UVMWCUXSMTIDUXLCP32DVNOR2P}

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	2026-07-05T02:46:45.615226Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a5596152f264d03a5d627ef43ab5d1d3c3badbc69906af46644ff8b6f3211697

Aliases

arxiv: 2104.09689 · arxiv_version: 2104.09689v1 · doi: 10.48550/arxiv.2104.09689 · pith_short_12: UVMWCUXSMTID · pith_short_16: UVMWCUXSMTIDUXLC · pith_short_8: UVMWCUXS

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/UVMWCUXSMTIDUXLCP32DVNOR2P \
  | 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: a5596152f264d03a5d627ef43ab5d1d3c3badbc69906af46644ff8b6f3211697

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a56061c9f6198cd17c0d75ec3f0957cabeafdac56a55fc7e7c593bfd95cde223",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-19T23:44:51Z",
    "title_canon_sha256": "61fdeadb4c2a6b1e909fee1629b8491722a4dbdb77444201e9a302ab0ea89135"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.09689",
    "kind": "arxiv",
    "version": 1
  }
}