Pith Number

pith:XPPVYSCO

pith:2013:XPPVYSCOI6NMI422E2ON3EWWFD

not attested not anchored not stored refs pending

An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion

Frank Permenter, Russ Tedrake, Scott Kuindersma

arxiv:1311.1839 v2 · 2013-11-07 · 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{XPPVYSCOI6NMI422E2ON3EWWFD}

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

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking

Receipt and verification

First computed	2026-05-18T00:49:35.358806Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bbdf5c484e479ac4735a269cdd92d628d1dd5362c1d6c5c41774059a02d15ff3

Aliases

arxiv: 1311.1839 · arxiv_version: 1311.1839v2 · doi: 10.48550/arxiv.1311.1839 · pith_short_12: XPPVYSCOI6NM · pith_short_16: XPPVYSCOI6NMI422 · pith_short_8: XPPVYSCO

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/XPPVYSCOI6NMI422E2ON3EWWFD \
  | 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: bbdf5c484e479ac4735a269cdd92d628d1dd5362c1d6c5c41774059a02d15ff3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d354227810e248d443315b006614ac7d0a2d455c652414237b37e1618a2a2e7d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/3.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2013-11-07T22:13:21Z",
    "title_canon_sha256": "91c9274ef50d9e4550417e0e96fa64eccff36a59ced1a470b66614a07a84a635"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1311.1839",
    "kind": "arxiv",
    "version": 2
  }
}