Pith Number

pith:CKGVO3FV

pith:2026:CKGVO3FVPZMEIBIEWP3G7NF4LH

not attested not anchored not stored refs pending

MARCH: Model-Assisted Reinforcement Learning for the Perceptive Control of Humanoids over Sparse Footholds

Codrin Crismariu, Ryan K. Cosner

arxiv:2606.10288 v1 · 2026-06-09 · 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{CKGVO3FVPZMEIBIEWP3G7NF4LH}

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	2026-06-10T01:10:09.089299Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

128d576cb57e58440504b3f66fb4bc59f426b27db88c4559d7d0dc540b689341

Aliases

arxiv: 2606.10288 · arxiv_version: 2606.10288v1 · doi: 10.48550/arxiv.2606.10288 · pith_short_12: CKGVO3FVPZME · pith_short_16: CKGVO3FVPZMEIBIE · pith_short_8: CKGVO3FV

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/CKGVO3FVPZMEIBIEWP3G7NF4LH \
  | 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: 128d576cb57e58440504b3f66fb4bc59f426b27db88c4559d7d0dc540b689341

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fe34a6df1e496092ef80131fd6e606973c6333286804d11d7dde75a0fe339380",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-09T01:21:26Z",
    "title_canon_sha256": "bdbfcb3d0c90858e792ee3bb9be3bc30346e6092037bd3e672bda51760e63070"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.10288",
    "kind": "arxiv",
    "version": 1
  }
}