Pith Number

pith:U7VYU2XO

pith:2026:U7VYU2XOPYQSOXGNUC6JGSTYGQ

not attested not anchored not stored refs pending

Four Simple Proprioceptive Estimators for Legged Robots

Ayoung Kim, Chiyun Noh, Frank Dellaert, Varun Agrawal

arxiv:2605.23100 v1 · 2026-05-21 · 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{U7VYU2XOPYQSOXGNUC6JGSTYGQ}

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	2026-05-25T02:01:38.208410Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a7eb8a6aee7e21275ccda0bc934a78343b4475c3bbb0d1d9f865f57b597b9fb7

Aliases

arxiv: 2605.23100 · arxiv_version: 2605.23100v1 · doi: 10.48550/arxiv.2605.23100 · pith_short_12: U7VYU2XOPYQS · pith_short_16: U7VYU2XOPYQSOXGN · pith_short_8: U7VYU2XO

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/U7VYU2XOPYQSOXGNUC6JGSTYGQ \
  | 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: a7eb8a6aee7e21275ccda0bc934a78343b4475c3bbb0d1d9f865f57b597b9fb7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "944d914ff7c96e5ef59c97ade0ce0988a8e3abff767750b3e9ee175ecde2f84e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-21T23:17:48Z",
    "title_canon_sha256": "21e8e039b124c715f136505581062434934a631e45c45642d91714041aa44688"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.23100",
    "kind": "arxiv",
    "version": 1
  }
}