Pith Number

pith:3YPHO5GG

pith:2026:3YPHO5GGCE2LQ7WBVQLZIMYYT5

not attested not anchored not stored refs pending

REFINE-DP: Diffusion Policy Fine-tuning for Humanoid Loco-manipulation via Reinforcement Learning

Alfred Cueva, Ayan Barula, Fukang Liu, Huishu Xue, Isaac Legene, KyoungMok Kim, MinJi Kim, Thong Nguyen, Ye Zhao, Yifan Wu, Yipu Chen, Yongxin Chen, Zhaoyuan Gu, Zimeng Chai

arxiv:2603.13707 v3 · 2026-03-14 · 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{3YPHO5GGCE2LQ7WBVQLZIMYYT5}

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

2 papers in Pith

Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots

EgoEngine: From Egocentric Human Videos to High-Fidelity Dexterous Robot Demonstrations

Receipt and verification

First computed	2026-07-31T01:10:29.658023Z
Builder	pith-number-builder-2026-05-17-v1
Signature	unsigned_v0
Schema	pith-number/v1.0

Canonical hash

de1e7774c61134b87ec1ac179433189f6ee966edf72f8e2908db1f1ee4e2d85e

Aliases

arxiv: 2603.13707 · arxiv_version: 2603.13707v3 · doi: 10.48550/arxiv.2603.13707 · pith_short_12: 3YPHO5GGCE2L · pith_short_16: 3YPHO5GGCE2LQ7WB · pith_short_8: 3YPHO5GG

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/3YPHO5GGCE2LQ7WBVQLZIMYYT5 \
  | 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: de1e7774c61134b87ec1ac179433189f6ee966edf72f8e2908db1f1ee4e2d85e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "530e272e307da5b2b6cfe5397e6aa7cca622549c071b1b25df6d7b2e4dd17926",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-14T02:21:19Z",
    "title_canon_sha256": "606f3d6437f87a972458c994f940582e33fb8074b0495a92a9e57a613873c841"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.13707",
    "kind": "arxiv",
    "version": 3
  }
}