Pith Number

pith:WM5SSRQF

pith:2022:WM5SSRQFGEURS6T5SCW7HCCPUJ

not attested not anchored not stored refs pending

A Collision-Free MPC for Whole-Body Dynamic Locomotion and Manipulation

Farbod Farshidian, Jean-Pierre Sleiman, Jia-Ruei Chiu, Marco Hutter, Mayank Mittal

arxiv:2202.12385 v1 · 2022-02-24 · 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{WM5SSRQFGEURS6T5SCW7HCCPUJ}

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

Bridging Adaptivity and Safety: Learning Agile Collision-Free Locomotion Across Varied Physics

Receipt and verification

First computed	2026-07-05T03:59:54.710517Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b33b2946053129197a7d90adf3884fa24feae7a29d75cf1c89d1768c6b8509ac

Aliases

arxiv: 2202.12385 · arxiv_version: 2202.12385v1 · doi: 10.48550/arxiv.2202.12385 · pith_short_12: WM5SSRQFGEUR · pith_short_16: WM5SSRQFGEURS6T5 · pith_short_8: WM5SSRQF

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/WM5SSRQFGEURS6T5SCW7HCCPUJ \
  | 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: b33b2946053129197a7d90adf3884fa24feae7a29d75cf1c89d1768c6b8509ac

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f1188668605202b798db23d8db26a30cbdfe132bf42547ea925ad8f025e98421",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-02-24T22:11:08Z",
    "title_canon_sha256": "40168963d7b388c40c46c3ec8e0024a2e975e43f914a221898b69a2ab5e4f7f0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.12385",
    "kind": "arxiv",
    "version": 1
  }
}