Pith Number

pith:5RVOFZYM

pith:2025:5RVOFZYMQIKKSNT7Q6SDEUZ7KX

not attested not anchored not stored refs pending

FACET: Force-Adaptive Control via Impedance Reference Tracking for Legged Robots

Botian Xu, Haoyang Weng, Huazhe Xu, Qingzhou Lu, Yang Gao

arxiv:2505.06883 v2 · 2025-05-11 · 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{5RVOFZYMQIKKSNT7Q6SDEUZ7KX}

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

TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion

CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

Receipt and verification

First computed	2026-07-05T11:04:50.972088Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ec6ae2e70c8214a9367f87a432533f55c9e6e05087749c6a26bb0780f5dfc5de

Aliases

arxiv: 2505.06883 · arxiv_version: 2505.06883v2 · doi: 10.48550/arxiv.2505.06883 · pith_short_12: 5RVOFZYMQIKK · pith_short_16: 5RVOFZYMQIKKSNT7 · pith_short_8: 5RVOFZYM

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/5RVOFZYMQIKKSNT7Q6SDEUZ7KX \
  | 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: ec6ae2e70c8214a9367f87a432533f55c9e6e05087749c6a26bb0780f5dfc5de

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f26db490eb5675b0c336123202b774dcefe6c355258b9527a2ee53b08e8ac122",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-11T07:23:26Z",
    "title_canon_sha256": "536a0ba3cb3c16e2933ab30d621418e3540b79e7dce3e64606e5a1775969397f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.06883",
    "kind": "arxiv",
    "version": 2
  }
}