Pith Number

pith:IF4LOFUJ

pith:2026:IF4LOFUJVJIPURJN52KRZ4UDXM

not attested not anchored not stored refs pending

CTS-MoE: Implicit Terrain Adaptation via Mixture-of-Experts for Perceptive Locomotion

Aditya Potnis, Ana Luiza Mineiro, Francisco Affonso, Girish Chowdhary, Marcelo Becker, Matheus P. Angarola

arxiv:2606.19633 v1 · 2026-06-17 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IF4LOFUJVJIPURJN52KRZ4UDXM}

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	2026-06-19T16:12:30.877987Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4178b71689aa50fa452dee951cf283bb108fa1dcdb6f8f31ebbba993d984db08

Aliases

arxiv: 2606.19633 · arxiv_version: 2606.19633v1 · doi: 10.48550/arxiv.2606.19633 · pith_short_12: IF4LOFUJVJIP · pith_short_16: IF4LOFUJVJIPURJN · pith_short_8: IF4LOFUJ

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/IF4LOFUJVJIPURJN52KRZ4UDXM \
  | 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: 4178b71689aa50fa452dee951cf283bb108fa1dcdb6f8f31ebbba993d984db08

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "962fcf59fc99d4bc3e4589aedaeec91cd119f9af5a1c1eeebfebc268c9cba90a",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-17T22:25:49Z",
    "title_canon_sha256": "8bd37bcddf9928916f677ee3f282e65ac2bf8b6de3d6ca2e23fcd44273aa7e77"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.19633",
    "kind": "arxiv",
    "version": 1
  }
}