Pith Number

pith:ZXNNZRFZ

pith:2024:ZXNNZRFZHGTN42KATT57BWCHDV

not attested not anchored not stored refs pending

Real-Time Whole-Body Control of Legged Robots with Model-Predictive Path Integral Control

John M. Dolan, John Z. Zhang, Juan Alvarez-Padilla, Sofia Kwok, Zachary Manchester

arxiv:2409.10469 v1 · 2024-09-16 · 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{ZXNNZRFZHGTN42KATT57BWCHDV}

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.

Cited by

4 papers in Pith

RGB: RL Guided Whole-Body MPPI for Humanoid Control

Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next

Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing

GATO: GPU-Accelerated and Batched Trajectory Optimization for Scalable Edge Model Predictive Control

Receipt and verification

First computed	2026-07-05T09:07:40.656322Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b

Aliases

arxiv: 2409.10469 · arxiv_version: 2409.10469v1 · doi: 10.48550/arxiv.2409.10469 · pith_short_12: ZXNNZRFZHGTN · pith_short_16: ZXNNZRFZHGTN42KA · pith_short_8: ZXNNZRFZ

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/ZXNNZRFZHGTN42KATT57BWCHDV \
  | 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: cddadcc4b939a6de69409cfbf0d8471d62dc49ed61b815eb415db6e5e808683b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e5010bb19a8de79e125c7e68ac241ac34e4642e3950944ee50fcd11b8bdd36ac",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-16T17:01:10Z",
    "title_canon_sha256": "d4ddec58e53b13637568f3777e795049e11f914876ea303c3c6dbe8ea1adc4be"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.10469",
    "kind": "arxiv",
    "version": 1
  }
}