Pith Number

pith:3AN4MXIS

pith:2026:3AN4MXISR5JSZSDX6XYUCB7ESD

not attested not anchored not stored refs pending

Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion

Liyun Yan, Shengcheng Fu, Yang Zhang, Yizhi Chen, Yue Gao, Yunpeng Yin, Zhanxiang Cao

arxiv:2606.00637 v1 · 2026-05-30 · 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{3AN4MXISR5JSZSDX6XYUCB7ESD}

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	2026-06-02T01:04:00.528822Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4

Aliases

arxiv: 2606.00637 · arxiv_version: 2606.00637v1 · doi: 10.48550/arxiv.2606.00637 · pith_short_12: 3AN4MXISR5JS · pith_short_16: 3AN4MXISR5JSZSDX · pith_short_8: 3AN4MXIS

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/3AN4MXISR5JSZSDX6XYUCB7ESD \
  | 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: d81bc65d128f532cc877f5f14107e490dabeef417c0d124000a4819f741b87a4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f40617b82a701cae6568c4f8d258c557f1f6ccbdf317134bdced7255154f6b0d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-30T09:23:07Z",
    "title_canon_sha256": "48ca4becf041cbffc3e0f845eebc061211e5509e933a260a4a83df46749fb849"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.00637",
    "kind": "arxiv",
    "version": 1
  }
}