Pith Number

pith:MPPKOL56

pith:2025:MPPKOL565JFDBWOGPYW4YXXT7U

not attested not anchored not stored refs pending

Koopman Operator Based Linear Model Predictive Control for 2D Quadruped Trotting, Bounding, and Gait Transition

Chun-Ming Yang, Pranav A. Bhounsule

arxiv:2507.14605 v1 · 2025-07-19 · 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{MPPKOL565JFDBWOGPYW4YXXT7U}

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	2026-07-05T11:40:10.403098Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

63dea72fbeea4a30d9c67e2dcc5ef3fd221b9753c9f0967a7c6ef939ce44f5b8

Aliases

arxiv: 2507.14605 · arxiv_version: 2507.14605v1 · doi: 10.48550/arxiv.2507.14605 · pith_short_12: MPPKOL565JFD · pith_short_16: MPPKOL565JFDBWOG · pith_short_8: MPPKOL56

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/MPPKOL565JFDBWOGPYW4YXXT7U \
  | 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: 63dea72fbeea4a30d9c67e2dcc5ef3fd221b9753c9f0967a7c6ef939ce44f5b8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "08cb390d5e142d7d4b2332f2a9ee8bd6f2e8ce62e9711d247ae2eaf9a28ed9e0",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-07-19T13:06:39Z",
    "title_canon_sha256": "c7f92a62ee1d7c54630f12e0daf479bf368fb4887b6389342555e18a80fe2bf6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2507.14605",
    "kind": "arxiv",
    "version": 1
  }
}