Pith Number

pith:24GNHKIO

pith:2026:24GNHKIO7OPRVX2CCG544JHEOB

not attested not anchored not stored refs pending

Long-Distance Real-World Navigation of the Legged-Wheeled Robot Go2-W Using Deep Reinforcement Learning

Kiyoshi Irie, Masahiro Tomono, Takaaki Matsuzawa, Taro Suzuki, Tomoaki Yoshida, Yoshitaka Hara

arxiv:2606.21387 v1 · 2026-06-19 · 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{24GNHKIO7OPRVX2CCG544JHEOB}

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	2026-06-23T01:13:08.633061Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d70cd3a90efb9f1adf4211bbce24e4705ba6977e854dd2f24c971a6d79c4e5c4

Aliases

arxiv: 2606.21387 · arxiv_version: 2606.21387v1 · doi: 10.48550/arxiv.2606.21387 · pith_short_12: 24GNHKIO7OPR · pith_short_16: 24GNHKIO7OPRVX2C · pith_short_8: 24GNHKIO

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/24GNHKIO7OPRVX2CCG544JHEOB \
  | 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: d70cd3a90efb9f1adf4211bbce24e4705ba6977e854dd2f24c971a6d79c4e5c4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bad7e948d5a6cd66f5c8029506a6ee2bf6d4f0df958372979a42fac5776ec0ca",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-19T12:53:37Z",
    "title_canon_sha256": "74e61b403ce39313508ccc25a1ce60aa1d360fe17e6523a7dd4ff0a51cf7d556"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.21387",
    "kind": "arxiv",
    "version": 1
  }
}