Pith Number

pith:Z2ESXDSI

pith:2022:Z2ESXDSITHFKYQC5XZH4NNSE6G

not attested not anchored not stored refs pending

Motion Planning for Agile Legged Locomotion using Failure Margin Constraints

John Warila, Jonathan Hurst, Kevin Green, Ross L. Hatton

arxiv:2203.15107 v1 · 2022-03-28 · 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{Z2ESXDSITHFKYQC5XZH4NNSE6G}

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	2026-07-05T04:09:21.711453Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ce892b8e4899caac405dbe4fc6b644f1b2964ed979cd6ab8cbbb92a1ee87fdba

Aliases

arxiv: 2203.15107 · arxiv_version: 2203.15107v1 · doi: 10.48550/arxiv.2203.15107 · pith_short_12: Z2ESXDSITHFK · pith_short_16: Z2ESXDSITHFKYQC5 · pith_short_8: Z2ESXDSI

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/Z2ESXDSITHFKYQC5XZH4NNSE6G \
  | 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: ce892b8e4899caac405dbe4fc6b644f1b2964ed979cd6ab8cbbb92a1ee87fdba

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5cc21d2682523ab5fb700d35787d26ceea4d0135b11ce72679d4e347f9eed938",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-03-28T21:22:38Z",
    "title_canon_sha256": "19878329ec9c1cc55c07956ecab08365145fb579aa829b0e585ab4b2ba9d571b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2203.15107",
    "kind": "arxiv",
    "version": 1
  }
}