Pith Number

pith:DHDZBN4T

pith:2025:DHDZBN4T6WVBX3NTDHWEQRRIQB

not attested not anchored not stored refs pending

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning

Dongjie Zhu, Luzhou Ge, Qi Liu, Tianhang Wu, Xiang Li, Xuesong Li, Zhuo Yang

arxiv:2504.14989 v1 · 2025-04-21 · 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{DHDZBN4T6WVBX3NTDHWEQRRIQB}

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	2026-07-05T10:51:54.391208Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

19c790b793f5aa1bedb319ec484628806d4bfa98ce8159e8a16d3ebaa0aabd37

Aliases

arxiv: 2504.14989 · arxiv_version: 2504.14989v1 · doi: 10.48550/arxiv.2504.14989 · pith_short_12: DHDZBN4T6WVB · pith_short_16: DHDZBN4T6WVBX3NT · pith_short_8: DHDZBN4T

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/DHDZBN4T6WVBX3NTDHWEQRRIQB \
  | 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: 19c790b793f5aa1bedb319ec484628806d4bfa98ce8159e8a16d3ebaa0aabd37

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "38308bc4f5d9ffe5790d406ac3ad1ae394b391e42f08f1eb68621da96346139c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-21T09:38:38Z",
    "title_canon_sha256": "f21cb196b6613870dd3e2de5ac303f124473cc4a75b54b4bde06939bffd68081"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.14989",
    "kind": "arxiv",
    "version": 1
  }
}