Pith Number

pith:GQ7NALPY

pith:2021:GQ7NALPYLRMVWXRC4JPNXMPMCV

not attested not anchored not stored refs pending

Learning Coordinated Terrain-Adaptive Locomotion by Imitating a Centroidal Dynamics Planner

Konstantinos Bousmalis, Leonard Hasenclever, Nicolas Heess, Philemon Brakel, Steven Bohez

arxiv:2111.00262 v1 · 2021-10-30 · cs.RO · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{GQ7NALPYLRMVWXRC4JPNXMPMCV}

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	2026-07-05T03:27:40.365922Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

343ed02df85c595b5e22e25edbb1ec15740a0c69c095cb3a5b5d37b39ac6f27c

Aliases

arxiv: 2111.00262 · arxiv_version: 2111.00262v1 · doi: 10.48550/arxiv.2111.00262 · pith_short_12: GQ7NALPYLRMV · pith_short_16: GQ7NALPYLRMVWXRC · pith_short_8: GQ7NALPY

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/GQ7NALPYLRMVWXRC4JPNXMPMCV \
  | 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: 343ed02df85c595b5e22e25edbb1ec15740a0c69c095cb3a5b5d37b39ac6f27c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d42b748909c0f92735cba8d0cb18b8b4134db5774ec3ba68a02e1328d6ae55f2",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-30T14:24:39Z",
    "title_canon_sha256": "1a0709c73d3ec0d85319c1a4ef5b308fdd6e21ac7e0243f6052eb9111cf267db"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.00262",
    "kind": "arxiv",
    "version": 1
  }
}