Pith Number

pith:VFYB6ZFT

pith:2022:VFYB6ZFTTNWLBPXWEZTIXY6WYF

not attested not anchored not stored refs pending

Optimization-Based Control for Dynamic Legged Robots

Adrien Escande, Andrea Del Prete, Michael Posa, Nicolas Mansard, Patrick M. Wensing, Yue Hu

arxiv:2211.11644 v1 · 2022-11-21 · 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{VFYB6ZFTTNWLBPXWEZTIXY6WYF}

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

Locomotion on Constrained Footholds via Layered Architectures and Model Predictive Control

Receipt and verification

First computed	2026-07-05T05:17:56.538069Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a9701f64b39b6cb0bef626668be3d6c163c4a9c38bb589194598f269268f6c09

Aliases

arxiv: 2211.11644 · arxiv_version: 2211.11644v1 · doi: 10.48550/arxiv.2211.11644 · pith_short_12: VFYB6ZFTTNWL · pith_short_16: VFYB6ZFTTNWLBPXW · pith_short_8: VFYB6ZFT

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/VFYB6ZFTTNWLBPXWEZTIXY6WYF \
  | 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: a9701f64b39b6cb0bef626668be3d6c163c4a9c38bb589194598f269268f6c09

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bacedb70b39f6958a5368240eb09dc62b6944faf18ac8aaeaadeb4fb02188d82",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-11-21T17:00:39Z",
    "title_canon_sha256": "1740dd928dd01e953a3bfa64edbcc5685bf200c3ec7980a14d79663d7e6466fe"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2211.11644",
    "kind": "arxiv",
    "version": 1
  }
}