Pith Number

pith:DJF44Z5Q

pith:2021:DJF44Z5QDHNIR7L6IMJ2KEMA22

not attested not anchored not stored refs pending

Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-critic Reinforcement Learning

He (Helen) Huang, Jennie Si, Ruofan Wu, Zhikai Yao

arxiv:2101.09334 v1 · 2021-01-22 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{DJF44Z5QDHNIR7L6IMJ2KEMA22}

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	2026-07-05T05:56:12.372294Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1a4bce67b019da88fd7e4313a51180d69cae0437254de1bba8c974079c556a20

Aliases

arxiv: 2101.09334 · arxiv_version: 2101.09334v1 · doi: 10.48550/arxiv.2101.09334 · pith_short_12: DJF44Z5QDHNI · pith_short_16: DJF44Z5QDHNIR7L6 · pith_short_8: DJF44Z5Q

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/DJF44Z5QDHNIR7L6IMJ2KEMA22 \
  | 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: 1a4bce67b019da88fd7e4313a51180d69cae0437254de1bba8c974079c556a20

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "45341cd96a433756cd7fcf06bf28635e7c95b78dd42057336d9fd463d730ae49",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-01-22T21:11:29Z",
    "title_canon_sha256": "adee53ec949e1aa0b74c9d883732a7002c000d5fb7a80614812bd5f26d3233f3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2101.09334",
    "kind": "arxiv",
    "version": 1
  }
}