Pith Number

pith:4W2RBIWC

pith:2025:4W2RBIWCLKMMALKAIYQMDHUC3A

not attested not anchored not stored refs pending

Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots

Buqing Nie, Yangqing Fu, Yang Zhang, Yue Gao, Zhanxiang Cao

arxiv:2506.00472 v1 · 2025-05-31 · 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{4W2RBIWCLKMMALKAIYQMDHUC3A}

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	2026-07-05T11:13:35.472140Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e5b510a2c25a98c02d404620c19e82d80f3711ba30a8c606edb6b07d6336f1ef

Aliases

arxiv: 2506.00472 · arxiv_version: 2506.00472v1 · doi: 10.48550/arxiv.2506.00472 · pith_short_12: 4W2RBIWCLKMM · pith_short_16: 4W2RBIWCLKMMALKA · pith_short_8: 4W2RBIWC

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/4W2RBIWCLKMMALKAIYQMDHUC3A \
  | 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: e5b510a2c25a98c02d404620c19e82d80f3711ba30a8c606edb6b07d6336f1ef

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a3e0d32d4936ff6d24de491444457f0027c6e6b74b5cd089e62972d5924b1d54",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-31T08:41:10Z",
    "title_canon_sha256": "1447a6b9caa30841af176404c54bc12a953222855df08ed4ae51fcc73a8ea641"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.00472",
    "kind": "arxiv",
    "version": 1
  }
}