Pith Number

pith:WHDMOUZ2

pith:2016:WHDMOUZ2KUUT42SLDYCYGFD2ZI

not attested not anchored not stored refs pending

A Convex Model of Momentum Dynamics for Multi-Contact Motion Generation

Alexander Herzog, Brahayam Ponton, Ludovic Righetti, Stefan Schaal

arxiv:1607.08644 v1 · 2016-07-28 · 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{WHDMOUZ2KUUT42SLDYCYGFD2ZI}

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	2026-05-18T01:10:16.121106Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b1c6c7533a55293e6a4b1e0583147aca3f682d1feb455270d65f8e8c57124014

Aliases

arxiv: 1607.08644 · arxiv_version: 1607.08644v1 · doi: 10.48550/arxiv.1607.08644 · pith_short_12: WHDMOUZ2KUUT · pith_short_16: WHDMOUZ2KUUT42SL · pith_short_8: WHDMOUZ2

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/WHDMOUZ2KUUT42SLDYCYGFD2ZI \
  | 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: b1c6c7533a55293e6a4b1e0583147aca3f682d1feb455270d65f8e8c57124014

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2bc809e5f75f1382eeaaa86abf4e129290c6da208763dad7094385a1d821f4bd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-07-28T21:36:50Z",
    "title_canon_sha256": "fed4fc1d0fa558f25e40c1b50cb09fe37d4aa32846f68bb35665fb8530df0dbd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1607.08644",
    "kind": "arxiv",
    "version": 1
  }
}