Pith Number

pith:VAVKXDXE

pith:2024:VAVKXDXE56QFT32WDZC76GXADC

not attested not anchored not stored refs pending

CDM-MPC: An Integrated Dynamic Planning and Control Framework for Bipedal Robots Jumping

Hangxin Liu, Jiayang Wu, Jingwen Zhang, Lining Sun, Shibowen Zhang, Xiaokun Leng, Yao Su, Yapeng Shi, Zhicheng He

arxiv:2405.11773 v1 · 2024-05-20 · 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{VAVKXDXE56QFT32WDZC76GXADC}

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	2026-07-05T08:20:55.625517Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a82aab8ee4efa059ef561e45ff1ae0188934ab85d4b0e6ce213b89bcc0f12dd1

Aliases

arxiv: 2405.11773 · arxiv_version: 2405.11773v1 · doi: 10.48550/arxiv.2405.11773 · pith_short_12: VAVKXDXE56QF · pith_short_16: VAVKXDXE56QFT32W · pith_short_8: VAVKXDXE

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/VAVKXDXE56QFT32WDZC76GXADC \
  | 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: a82aab8ee4efa059ef561e45ff1ae0188934ab85d4b0e6ce213b89bcc0f12dd1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "494056a33be86b341b6ea7f8e2339e1f2bfdc381a52cfec46b83ef35ced9eebb",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-05-20T04:20:25Z",
    "title_canon_sha256": "e09fd7b57246a8252eed1ae66a4fac28caae062ee59fd69150158729e73b17f5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2405.11773",
    "kind": "arxiv",
    "version": 1
  }
}