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According to the manual, there are two configuration options (i.e. things you put in your torrc):

  • HidServAuth is what can be used on the client. It allows you to provide authentication cookies for hidden services as in HidServAuth <onion-address> <auth-cookie>.
  • HiddenServiceAuthorizeClient is the server side companion.

Protocol-related information can be found in the rendezvous-specification at section 2.