Pith Number

pith:6A7U5GQ2

pith:2024:6A7U5GQ2LRGJUFQYBFBDQT65NB

not attested not anchored not stored refs pending

Revisiting Reward Design and Evaluation for Robust Humanoid Standing and Walking

Aayam Shrestha, Alan Fern, Bart van Marum, Helei Duan, Jeremy Dao, Pranay Dugar

arxiv:2404.19173 v2 · 2024-04-30 · 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{6A7U5GQ2LRGJUFQYBFBDQT65NB}

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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

1 paper in Pith

Learning Multi-Modal Whole-Body Control for Real-World Humanoid Robots

Receipt and verification

First computed	2026-07-05T09:00:59.817274Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f03f4e9a1a5c4c9a16180942384fdd687537fa051b99af9a5bd3073e2e6ae186

Aliases

arxiv: 2404.19173 · arxiv_version: 2404.19173v2 · doi: 10.48550/arxiv.2404.19173 · pith_short_12: 6A7U5GQ2LRGJ · pith_short_16: 6A7U5GQ2LRGJUFQY · pith_short_8: 6A7U5GQ2

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/6A7U5GQ2LRGJUFQYBFBDQT65NB \
  | 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: f03f4e9a1a5c4c9a16180942384fdd687537fa051b99af9a5bd3073e2e6ae186

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "228d34b2cc3ab8c5602f06982f3f39448c28116bb1f517dd0f83306769297fc3",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-04-30T00:36:26Z",
    "title_canon_sha256": "a3286ca8569e18616957097ba9de7f309b81758d14cb008154d5e11c93459f76"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2404.19173",
    "kind": "arxiv",
    "version": 2
  }
}