Pith Number

pith:FZYQNGC5

pith:2026:FZYQNGC5OJRDLEPI7GKBYE74A7

not attested not anchored not stored refs pending

Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition

Arash Ajoudani, Arturo Laurenzi, Changhao Li, Damiano Gasperini, Davide Torielli, Heng Zhang, Luca Muratore, Nikos Tsagarakis, Yifang Zhang

arxiv:2608.09762 v1 · 2026-08-10 · 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{FZYQNGC5OJRDLEPI7GKBYE74A7}

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	2026-08-11T02:24:57.752678Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2e7106985d72623591e8f9941c13fc07ce982b07b160098442b2bd5f48d0c23f

Aliases

arxiv: 2608.09762 · arxiv_version: 2608.09762v1 · doi: 10.48550/arxiv.2608.09762 · pith_short_12: FZYQNGC5OJRD · pith_short_16: FZYQNGC5OJRDLEPI · pith_short_8: FZYQNGC5

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/FZYQNGC5OJRDLEPI7GKBYE74A7 \
  | 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: 2e7106985d72623591e8f9941c13fc07ce982b07b160098442b2bd5f48d0c23f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2b0cf3509866c3880203f5ae5e422cb06438148879751ee28e92c6fcbd03da69",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-08-10T15:54:25Z",
    "title_canon_sha256": "043c2554283ddc58b656b06a71a624a299ba4cd44a5262d0cadd64df321ecacf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2608.09762",
    "kind": "arxiv",
    "version": 1
  }
}