Pith Number

pith:6WDPNJ7V

pith:2025:6WDPNJ7VQC3FR3HTNCNL6JAMGW

not attested not anchored not stored refs pending

UMC: Unified Resilient Controller for Legged Robots with Joint Malfunctions

Jingbo Wang, Lu Qi, Ming-Hsuan Yang, Xiangtai Li, Xin Lin, Yu Qiu

arxiv:2502.03035 v1 · 2025-02-05 · 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{6WDPNJ7VQC3FR3HTNCNL6JAMGW}

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

FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

Receipt and verification

First computed	2026-07-05T10:09:58.571513Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569

Aliases

arxiv: 2502.03035 · arxiv_version: 2502.03035v1 · doi: 10.48550/arxiv.2502.03035 · pith_short_12: 6WDPNJ7VQC3F · pith_short_16: 6WDPNJ7VQC3FR3HT · pith_short_8: 6WDPNJ7V

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/6WDPNJ7VQC3FR3HTNCNL6JAMGW \
  | 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: f586f6a7f580b658ecf3689abf240c3589bda0b9ff3543541dd7084fe2c64569

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ca9d78ceafa10221dd66bec3ccd7152c74631147020174232c7123891c4999f9",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-02-05T09:46:31Z",
    "title_canon_sha256": "1ea1acc2324fcc5cc3bda7672b571622125e96cb627349dc132144da8fb14576"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2502.03035",
    "kind": "arxiv",
    "version": 1
  }
}