Pith Number

pith:4T4EFXJF

pith:2021:4T4EFXJFT5QOZMGFVXWDUY5BNF

not attested not anchored not stored refs pending

Minimizing Energy Consumption Leads to the Emergence of Gaits in Legged Robots

Ashish Kumar, Deepak Pathak, Jitendra Malik, Zipeng Fu

arxiv:2111.01674 v1 · 2021-10-25 · cs.RO · cs.AI · cs.CV · 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{4T4EFXJFT5QOZMGFVXWDUY5BNF}

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

Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing

UniCon: A Unified System for Efficient Robot Learning Transfers

Receipt and verification

First computed	2026-07-05T03:28:31.792507Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e4f842dd259f60ecb0c5adec3a63a1694e648c657faf52f563bfb7ba0c395adf

Aliases

arxiv: 2111.01674 · arxiv_version: 2111.01674v1 · doi: 10.48550/arxiv.2111.01674 · pith_short_12: 4T4EFXJFT5QO · pith_short_16: 4T4EFXJFT5QOZMGF · pith_short_8: 4T4EFXJF

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/4T4EFXJFT5QOZMGFVXWDUY5BNF \
  | 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: e4f842dd259f60ecb0c5adec3a63a1694e648c657faf52f563bfb7ba0c395adf

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e5765514ad07ba956944524d5db162eeea56d7687da4df4b1e950100f77d42d0",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-25T17:59:58Z",
    "title_canon_sha256": "f968c74e85e19125722bddeaf7efd2788279d9367e0b49a2cad043f99dca8131"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.01674",
    "kind": "arxiv",
    "version": 1
  }
}