Pith Number

pith:SLIV7RTP

pith:2022:SLIV7RTPTBEQ3EOOLN5T4NU4P4

not attested not anchored not stored refs pending

On the Use of Torque Measurement in Centroidal State Estimation

Ahmad Gazar, Ludovic Righetti, Majid Khadiv, Maren Bennewitz, Maximilien Naveau, Nicholas Rotella, Shahram Khorshidi

arxiv:2202.12574 v3 · 2022-02-25 · 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{SLIV7RTPTBEQ3EOOLN5T4NU4P4}

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	2026-07-05T05:47:57.715865Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

92d15fc66f98490d91ce5b7b3e369c7f270a0f7280edf55866a5055b2c880ea0

Aliases

arxiv: 2202.12574 · arxiv_version: 2202.12574v3 · doi: 10.48550/arxiv.2202.12574 · pith_short_12: SLIV7RTPTBEQ · pith_short_16: SLIV7RTPTBEQ3EOO · pith_short_8: SLIV7RTP

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/SLIV7RTPTBEQ3EOOLN5T4NU4P4 \
  | 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: 92d15fc66f98490d91ce5b7b3e369c7f270a0f7280edf55866a5055b2c880ea0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "243163cfb3c0fbf19b3ba5bcf038ff17c894af084002081cf3da84e0a5f38961",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-02-25T09:23:54Z",
    "title_canon_sha256": "7023b168ea9ac3cdb995d564593c640be205147aa18cd0bb2de75f9ff3a3dbd8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.12574",
    "kind": "arxiv",
    "version": 3
  }
}