Pith Number

pith:I7JTHJZ2

pith:2020:I7JTHJZ2NBQOAKEPKHH5MHQICP

not attested not anchored not stored refs pending

Learning Agile Robotic Locomotion Skills by Imitating Animals

Erwin Coumans, Jie Tan, Sergey Levine, Tingnan Zhang, Tsang-Wei Lee, Xue Bin Peng

arxiv:2004.00784 v3 · 2020-04-02 · 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{I7JTHJZ2NBQOAKEPKHH5MHQICP}

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

7 papers in Pith

StairMaster: Learning to Conquer Risky Hollow Stairs for Agile Quadrupedal Robots

Enforcing Human-like Kinematics in Dexterous Piano Playing via Adversarial Posture Regularization

Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications

X-Morph: Human Motion Priors for Scalable Robot Learning Across Morphologies

DynaRetarget: Dynamically-Feasible Retargeting using Sampling-Based Trajectory Optimization

Receipt and verification

First computed	2026-07-05T01:20:37.056204Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

47d333a73a6860e0288f51cfd61e0813c58f522ab1730e6c56636740ca6687df

Aliases

arxiv: 2004.00784 · arxiv_version: 2004.00784v3 · doi: 10.48550/arxiv.2004.00784 · pith_short_12: I7JTHJZ2NBQO · pith_short_16: I7JTHJZ2NBQOAKEP · pith_short_8: I7JTHJZ2

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/I7JTHJZ2NBQOAKEPKHH5MHQICP \
  | 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: 47d333a73a6860e0288f51cfd61e0813c58f522ab1730e6c56636740ca6687df

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4969df2764cfe9840e35d39bc5e5407d99eaa5104b315305bf99e4bce80b6f8f",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-04-02T02:56:16Z",
    "title_canon_sha256": "f1adf80c65465b43aafd84d16e488bd08f26439f30bccc4d08096bb9b6f00e00"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.00784",
    "kind": "arxiv",
    "version": 3
  }
}