Pith Number

pith:YY6Z5RSV

pith:2019:YY6Z5RSVWQAF6VSTCDE7IKIOUJ

not attested not anchored not stored refs pending

Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization

Andreea Radulescu, Bernardo Aceituno-Cabezas, Carlos Mastalli, Claudio Semini, Darwin G. Caldwell, Gerardo Fernandez-Lopez, Hongkai Dai, Jose Cappelletto, Juan C. Grieco, Michele Focchi

arxiv:1904.04595 v1 · 2019-04-09 · cs.RO · cs.AI · 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{YY6Z5RSVWQAF6VSTCDE7IKIOUJ}

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	2026-05-17T23:48:58.667091Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c63d9ec655b4005f565310c9f4290ea26aa27decc97d28d73791211a315a66a3

Aliases

arxiv: 1904.04595 · arxiv_version: 1904.04595v1 · doi: 10.48550/arxiv.1904.04595 · pith_short_12: YY6Z5RSVWQAF · pith_short_16: YY6Z5RSVWQAF6VST · pith_short_8: YY6Z5RSV

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/YY6Z5RSVWQAF6VSTCDE7IKIOUJ \
  | 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: c63d9ec655b4005f565310c9f4290ea26aa27decc97d28d73791211a315a66a3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f2effd95895c10d7c697a23bf04b824e15e6490b262105cbec2cb333cb02673a",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-09T11:20:25Z",
    "title_canon_sha256": "666c5f9e05502180df93544de0b886b7d8267ee6f806368030624db63465fda5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.04595",
    "kind": "arxiv",
    "version": 1
  }
}