Pith Number

pith:C4RLKUOR

pith:2025:C4RLKUORHVCBQ4QODGGJ4RJGSB

not attested not anchored not stored refs pending

HeLoM: Hierarchical Learning for Whole-Body Loco-Manipulation by a Hexapod Robot

Arhaan Jain, Ge Sun, Guillaume Sartoretti, Hongyi Li, Junkai Lu, Linnan Chang, Peizhuo Li, Xinrong Yang, Yifeng Peng, Yifeng Zhang, Yuhong Cao

arxiv:2509.23651 v3 · 2025-09-28 · 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{C4RLKUORHVCBQ4QODGGJ4RJGSB}

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.

Receipt and verification

First computed	2026-05-26T02:05:02.567895Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1722b551d13d4418720e198c9e4526905a596eeb6102ae12382b1f4f21743a8a

Aliases

arxiv: 2509.23651 · arxiv_version: 2509.23651v3 · doi: 10.48550/arxiv.2509.23651 · pith_short_12: C4RLKUORHVCB · pith_short_16: C4RLKUORHVCBQ4QO · pith_short_8: C4RLKUOR

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/C4RLKUORHVCBQ4QODGGJ4RJGSB \
  | 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: 1722b551d13d4418720e198c9e4526905a596eeb6102ae12382b1f4f21743a8a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f370e9edcaab69f14590946ff9676958e9a5064b844f8db75bd722ed42ffab69",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-28T05:34:39Z",
    "title_canon_sha256": "1af1313357c47d55b0ccf604b14972a870aba8a5eedebe0a4c63d51bb1d481c4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.23651",
    "kind": "arxiv",
    "version": 3
  }
}