Pith Number

pith:VL2BL6R2

pith:2022:VL2BL6R2U7LDLXMKNR4SIYQPMF

not attested not anchored not stored refs pending

Hybrid iLQR Model Predictive Control for Contact Implicit Stabilization on Legged Robots

Aaron M. Johnson, Chuanzheng Li, Nathan J. Kong

arxiv:2207.04591 v2 · 2022-07-11 · 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{VL2BL6R2U7LDLXMKNR4SIYQPMF}

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	2026-07-05T07:09:43.037168Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

aaf415fa3aa7d635dd8a6c7924620f6159ce680fe06fee077101794458b1fe13

Aliases

arxiv: 2207.04591 · arxiv_version: 2207.04591v2 · doi: 10.48550/arxiv.2207.04591 · pith_short_12: VL2BL6R2U7LD · pith_short_16: VL2BL6R2U7LDLXMK · pith_short_8: VL2BL6R2

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/VL2BL6R2U7LDLXMKNR4SIYQPMF \
  | 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: aaf415fa3aa7d635dd8a6c7924620f6159ce680fe06fee077101794458b1fe13

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8e482465b3359c9e28d8a57120f999f1c0aab3715cc27f03b3cffc474d623677",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-07-11T02:46:43Z",
    "title_canon_sha256": "33adf8d86945ddb2d0169d9a0a507ad7f124bc9ed7182bb2b60226b454db212f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2207.04591",
    "kind": "arxiv",
    "version": 2
  }
}