Pith Number

pith:YAOG34GA

pith:2018:YAOG34GAYGACTW6XCA2IADFRLZ

not attested not anchored not stored refs pending

Hierarchical Optimization for Whole-Body Control of Wheeled Inverted Pendulum Humanoids

Evangelos A. Theodorou, Munzir Zafar, Seth Hutchinson

arxiv:1810.03074 v1 · 2018-10-07 · cs.RO · cs.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YAOG34GAYGACTW6XCA2IADFRLZ}

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	2026-05-18T00:03:54.627066Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c01c6df0c0c18029dbd71034800cb15e64b4c7234e362e7892eb72a2c2ceb5ba

Aliases

arxiv: 1810.03074 · arxiv_version: 1810.03074v1 · doi: 10.48550/arxiv.1810.03074 · pith_short_12: YAOG34GAYGAC · pith_short_16: YAOG34GAYGACTW6X · pith_short_8: YAOG34GA

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/YAOG34GAYGACTW6XCA2IADFRLZ \
  | 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: c01c6df0c0c18029dbd71034800cb15e64b4c7234e362e7892eb72a2c2ceb5ba

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2df96715b8f05aa91431cae4eca467575524bed9a68846f0e9b72fd01a1ae0ea",
    "cross_cats_sorted": [
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-10-07T02:24:53Z",
    "title_canon_sha256": "04045c32117a6dcb3ce39d9aeb94389227b3e2e164e67da2ca593b57255803c9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1810.03074",
    "kind": "arxiv",
    "version": 1
  }
}