Pith Number

pith:2PEGRK3V

pith:2025:2PEGRK3VVM3J6OVSUSMH3FSBBQ

not attested not anchored not stored refs pending

Multi-critic Learning for Whole-body End-effector Twist Tracking

Andrei Cramariuc, Aravind Elanjimattathil Vijayan, Christian Gehring, Marco Hutter, Mattia Risiglione

arxiv:2507.08656 v2 · 2025-07-11 · 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{2PEGRK3VVM3J6OVSUSMH3FSBBQ}

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

3 papers in Pith

FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

CWI: Composite Humanoid Whole-Body Imitation System for Loco-manipulation

Receipt and verification

First computed	2026-07-05T12:01:24.753935Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d3c868ab75ab369f3ab2a4987d96410c3719b6c6fa6d0801307eb5c3b9ac9aaf

Aliases

arxiv: 2507.08656 · arxiv_version: 2507.08656v2 · doi: 10.48550/arxiv.2507.08656 · pith_short_12: 2PEGRK3VVM3J · pith_short_16: 2PEGRK3VVM3J6OVS · pith_short_8: 2PEGRK3V

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/2PEGRK3VVM3J6OVSUSMH3FSBBQ \
  | 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: d3c868ab75ab369f3ab2a4987d96410c3719b6c6fa6d0801307eb5c3b9ac9aaf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c73b8adb16eae89df7d9a0990c0e087b39b8a16660c87f175649f268428b4706",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-07-11T14:59:59Z",
    "title_canon_sha256": "470d907ddbe3bd51f5cb612a30ff2ea69af453227661d6b44b8dbbd3e911f6eb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2507.08656",
    "kind": "arxiv",
    "version": 2
  }
}