Pith Number

pith:ZIMYYH3U

pith:2023:ZIMYYH3UI3YV5NYNELK36GLQVT

not attested not anchored not stored refs pending

When and Where to Step: Terrain-Aware Real-Time Footstep Location and Timing Optimization for Bipedal Robots

Digby Chappell, Ke Wang, Oskar Helander, Petar Kormushev, Peter Tisnikar, Zhaoyang Jacopo Hu

arxiv:2302.07345 v1 · 2023-02-14 · cs.RO · cs.NA · math.NA

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZIMYYH3UI3YV5NYNELK36GLQVT}

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	2026-07-05T05:41:53.222793Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ca198c1f7446f15eb70d22d5bf1970acf43403948e557163c6375f0c921de640

Aliases

arxiv: 2302.07345 · arxiv_version: 2302.07345v1 · doi: 10.48550/arxiv.2302.07345 · pith_short_12: ZIMYYH3UI3YV · pith_short_16: ZIMYYH3UI3YV5NYN · pith_short_8: ZIMYYH3U

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/ZIMYYH3UI3YV5NYNELK36GLQVT \
  | 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: ca198c1f7446f15eb70d22d5bf1970acf43403948e557163c6375f0c921de640

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ff7ac30d80ee61c2bc729cd7cc0d56bf328e5fee5d602b376ca4d055351f8cf8",
    "cross_cats_sorted": [
      "cs.NA",
      "math.NA"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-02-14T21:10:29Z",
    "title_canon_sha256": "1d87c823b0f8d11c6ea72ec8987d010e0779cfbd4d1c2b940365fdfceec22ad0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2302.07345",
    "kind": "arxiv",
    "version": 1
  }
}