Pith Number

pith:4ZALN57C

pith:2021:4ZALN57CQFHKAUS3ZKLIEMVU2N

not attested not anchored not stored refs pending

Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning

Alan Fern, John Warila, Jonah Siekmann, Jonathan Hurst, Kevin Green

arxiv:2105.08328 v1 · 2021-05-18 · 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{4ZALN57CQFHKAUS3ZKLIEMVU2N}

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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

8 papers in Pith

Physics-Guided Biomechanical Gait Adaptation for Humanoid Locomotion on Extreme Sloped Terrains

CoRe-MoE: Contrastive Reweighted Mixture of Experts for Multi-Terrain Humanoid Locomotion with Gait Adaptation

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

SWIM: Single-Instance Whole-Body Imitation for swiMming

RANDPOL: Parameter-Efficient End-to-End Quadruped Locomotion via Randomized Policy Learning

Receipt and verification

First computed	2026-07-05T02:40:54.130190Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e640b6f7e2814ea0525bca968232b4d3679396831fdad6e20ce91a6f09bd5f72

Aliases

arxiv: 2105.08328 · arxiv_version: 2105.08328v1 · doi: 10.48550/arxiv.2105.08328 · pith_short_12: 4ZALN57CQFHK · pith_short_16: 4ZALN57CQFHKAUS3 · pith_short_8: 4ZALN57C

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/4ZALN57CQFHKAUS3ZKLIEMVU2N \
  | 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: e640b6f7e2814ea0525bca968232b4d3679396831fdad6e20ce91a6f09bd5f72

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "64fac76a670142d9fa282392854048da1e95682e1a73d760a66b98a581c3a98c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-05-18T07:49:15Z",
    "title_canon_sha256": "b4bcfd3c85f7d86deab8d5f1d1d6d2f03b2406834b8b73898d638fa1b22fa6f0"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2105.08328",
    "kind": "arxiv",
    "version": 1
  }
}