Pith Number

pith:GYSLJ7XN

pith:2020:GYSLJ7XNIMVCLI6W3YFJHBW3ZI

not attested not anchored not stored refs pending

Sim-to-Real Learning of All Common Bipedal Gaits via Periodic Reward Composition

Alan Fern, Jonah Siekmann, Jonathan Hurst, Yesh Godse

arxiv:2011.01387 v2 · 2020-11-02 · 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{GYSLJ7XNIMVCLI6W3YFJHBW3ZI}

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.

Cited by

1 paper in Pith

Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control

Receipt and verification

First computed	2026-07-05T02:22:06.430716Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3624b4feed432a25a3d6de0a9386dbca2e3c1faf0c14b3446c563a3274abd544

Aliases

arxiv: 2011.01387 · arxiv_version: 2011.01387v2 · doi: 10.48550/arxiv.2011.01387 · pith_short_12: GYSLJ7XNIMVC · pith_short_16: GYSLJ7XNIMVCLI6W · pith_short_8: GYSLJ7XN

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/GYSLJ7XNIMVCLI6W3YFJHBW3ZI \
  | 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: 3624b4feed432a25a3d6de0a9386dbca2e3c1faf0c14b3446c563a3274abd544

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ce62f4d96c87ae3821279f893b3b3b258d2171b82f7eb82cd5062915e7f0f4a9",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-11-02T23:54:43Z",
    "title_canon_sha256": "960fa31b4aa9e9969cba8ad38f3171938d5b27ece390b5891f5d2ae8f06bd23c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2011.01387",
    "kind": "arxiv",
    "version": 2
  }
}