Pith Number

pith:BACK3FAP

pith:2024:BACK3FAP6IQOPR56XGVDZKWULH

not attested not anchored not stored refs pending

Variable Inertia Model Predictive Control for Fast Bipedal Maneuvers

Carlos Gonzalez, Jaemin Lee, Luis Sentis, Seung Hyeon Bang

arxiv:2407.16811 v2 · 2024-07-23 · 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{BACK3FAP6IQOPR56XGVDZKWULH}

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

1 paper in Pith

Gait-Net-augmented Implicit Kino-dynamic MPC for Dynamic Variable-frequency Humanoid Locomotion over Discrete Terrains

Receipt and verification

First computed	2026-07-05T09:07:01.485164Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0804ad940ff220e7c7beb9aa3caad459d739ba7e1f8a5b1266c9afc259426a41

Aliases

arxiv: 2407.16811 · arxiv_version: 2407.16811v2 · doi: 10.48550/arxiv.2407.16811 · pith_short_12: BACK3FAP6IQO · pith_short_16: BACK3FAP6IQOPR56 · pith_short_8: BACK3FAP

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/BACK3FAP6IQOPR56XGVDZKWULH \
  | 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: 0804ad940ff220e7c7beb9aa3caad459d739ba7e1f8a5b1266c9afc259426a41

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d7cb6b260cbc02db209affddd69ec639f5d0e0e25f63668c656e9950ad9f9cce",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-07-23T19:35:41Z",
    "title_canon_sha256": "e8b9dc2bd26d63eaf50173649165242f2c27d6953bcd8cccbd92acf1eb6d988c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2407.16811",
    "kind": "arxiv",
    "version": 2
  }
}