Pith Number

pith:ZGZO3UGH

pith:2021:ZGZO3UGHWRQFHSUVSJHXE6AA4H

not attested not anchored not stored refs pending

A Versatile Co-Design Approach For Dynamic Legged Robots

Carlos Mastalli, Sethu Vijayakumar, Steve Tonneau, Traiko Dinev, Vladimir Ivan

arxiv:2103.04660 v3 · 2021-03-08 · 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{ZGZO3UGHWRQFHSUVSJHXE6AA4H}

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	2026-07-05T04:40:23.075689Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c9b2edd0c7b46053ca95924f727800e1cdad7a428e255a412a93737315529511

Aliases

arxiv: 2103.04660 · arxiv_version: 2103.04660v3 · doi: 10.48550/arxiv.2103.04660 · pith_short_12: ZGZO3UGHWRQF · pith_short_16: ZGZO3UGHWRQFHSUV · pith_short_8: ZGZO3UGH

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/ZGZO3UGHWRQFHSUVSJHXE6AA4H \
  | 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: c9b2edd0c7b46053ca95924f727800e1cdad7a428e255a412a93737315529511

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "49758b8f932a9bdc533665309161c3c185c0d698934be8f4758830b31be4aa3e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-08T10:46:33Z",
    "title_canon_sha256": "503c0eb07935e31fb7bd66f80fc68a2540cb5f21a69b37b7f9315d3cdb7d4219"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.04660",
    "kind": "arxiv",
    "version": 3
  }
}