Pith Number

pith:JRRL77KK

pith:2025:JRRL77KKAUUIBHLEX2WQRA6H4W

not attested not anchored not stored refs pending

A Unified and General Humanoid Whole-Body Controller for Versatile Locomotion

Jiangmiao Pang, Minghuan Liu, Weinan Zhang, Wentao Dong, Yufei Xue

arxiv:2502.03206 v3 · 2025-02-05 · 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{JRRL77KKAUUIBHLEX2WQRA6H4W}

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

OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation

Receipt and verification

First computed	2026-07-05T10:48:25.152559Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4c62bffd4a0528809d64bead0883c7e58a3aeab1a2fdcdbb3afa206a159ece12

Aliases

arxiv: 2502.03206 · arxiv_version: 2502.03206v3 · doi: 10.48550/arxiv.2502.03206 · pith_short_12: JRRL77KKAUUI · pith_short_16: JRRL77KKAUUIBHLE · pith_short_8: JRRL77KK

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/JRRL77KKAUUIBHLEX2WQRA6H4W \
  | 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: 4c62bffd4a0528809d64bead0883c7e58a3aeab1a2fdcdbb3afa206a159ece12

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "acda1b0314a7b489529904ef1868bf792b09d632eabef1d55b43a3ae2ba2c1c7",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-02-05T14:26:01Z",
    "title_canon_sha256": "3122995dcfcc030b85f9db8486d95139cfd429c5b235a7cb0ab330a4f8edc2df"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2502.03206",
    "kind": "arxiv",
    "version": 3
  }
}