Pith Number

pith:2MCEBZXP

pith:2025:2MCEBZXPIO76SSZ2LXK6YECGLO

not attested not anchored not stored refs pending

BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholds

Huayi Wang, Jiangmiao Pang, Junli Ren, Qingwei Ben, Tao Huang, Weinan Zhang, Zirui Wang

arxiv:2502.10363 v3 · 2025-02-14 · cs.RO · cs.AI · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2MCEBZXPIO76SSZ2LXK6YECGLO}

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.

Cited by

12 papers in Pith

Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains

TaskNPoint: How to Teach Your Humanoid to Hit a Backhand in Minutes

OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

TAGA: Terrain-aware Active Gaze Learning for Generalizable Agile Humanoid Locomotion

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

Receipt and verification

First computed	2026-07-05T10:54:43.350197Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d30440e6ef43bfe94b3a5dd5ec10465bb0101c5080c78bff42d8fb4440f57fcc

Aliases

arxiv: 2502.10363 · arxiv_version: 2502.10363v3 · doi: 10.48550/arxiv.2502.10363 · pith_short_12: 2MCEBZXPIO76 · pith_short_16: 2MCEBZXPIO76SSZ2 · pith_short_8: 2MCEBZXP

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/2MCEBZXPIO76SSZ2LXK6YECGLO \
  | 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: d30440e6ef43bfe94b3a5dd5ec10465bb0101c5080c78bff42d8fb4440f57fcc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "13394418fe2f66291be98d65118a6c13abf12185618bf102a3eec53b408a2c44",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-02-14T18:42:42Z",
    "title_canon_sha256": "17bced71624a83081a3efd551c0dae0a8d762befba53bbbdddb23c9480f1bee8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2502.10363",
    "kind": "arxiv",
    "version": 3
  }
}