Pith Number

pith:6PA65Q6M

pith:2019:6PA65Q6MJKWXMQHVX3JEVJHINQ

not attested not anchored not stored refs pending

Hybrid Zero Dynamics Inspired Feedback Control Policy Design for 3D Bipedal Locomotion using Reinforcement Learning

Ayonga Hereid, Bowen Weng, Guillermo A. Castillo, Wei Zhang

arxiv:1910.01748 v1 · 2019-10-03 · cs.RO · cs.LG · cs.NE

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6PA65Q6MJKWXMQHVX3JEVJHINQ}

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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.

Receipt and verification

First computed	2026-07-05T00:09:53.170467Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f3c1eec3cc4aad7640f5bed24aa4e86c34d7b07364d62370c79c2004e93bcdad

Aliases

arxiv: 1910.01748 · arxiv_version: 1910.01748v1 · doi: 10.48550/arxiv.1910.01748 · pith_short_12: 6PA65Q6MJKWX · pith_short_16: 6PA65Q6MJKWXMQHV · pith_short_8: 6PA65Q6M

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/6PA65Q6MJKWXMQHVX3JEVJHINQ \
  | 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: f3c1eec3cc4aad7640f5bed24aa4e86c34d7b07364d62370c79c2004e93bcdad

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1d75c6ec070c2360ed697cbdde79d7dc6ae6b1a7894027787ffb6243e2922726",
    "cross_cats_sorted": [
      "cs.LG",
      "cs.NE"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-10-03T22:20:04Z",
    "title_canon_sha256": "dc56461c6d0650f4c23ac1c596eb8357cb7c555124caa700d722c14a889bf2fd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1910.01748",
    "kind": "arxiv",
    "version": 1
  }
}