Pith Number

pith:MF5OSCKY

pith:2023:MF5OSCKYSZREDU6P7NKI7LSOVT

not attested not anchored not stored refs pending

Hybrid Internal Model: Learning Agile Legged Locomotion with Simulated Robot Response

Jiangmiao Pang, Jiawei Gao, Junfeng Long, Liu Cao, Quanyi Li, Zirui Wang

arxiv:2312.11460 v3 · 2023-12-18 · cs.RO · cs.AI · cs.CV · cs.LG · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{MF5OSCKYSZREDU6P7NKI7LSOVT}

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

10 papers in Pith

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

IDEA: Insensitive to Dynamics Mismatch via Effect Alignment for Sim-to-Real Transfer in Multi-Agent Control

IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

Embedding Hybrid Systems into Continuous Latent Vector Fields

Mind Your Steps: A General Learning Framework for Accurate Humanoid Foothold Tracking

Receipt and verification

First computed	2026-07-05T07:29:29.867976Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

617ae90958966241d3cffb548fae4eacd67953c08e81d3dea0a5bd69287441ae

Aliases

arxiv: 2312.11460 · arxiv_version: 2312.11460v3 · doi: 10.48550/arxiv.2312.11460 · pith_short_12: MF5OSCKYSZRE · pith_short_16: MF5OSCKYSZREDU6P · pith_short_8: MF5OSCKY

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/MF5OSCKYSZREDU6P7NKI7LSOVT \
  | 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: 617ae90958966241d3cffb548fae4eacd67953c08e81d3dea0a5bd69287441ae

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4e89d2e51fbcd2f87d671448b4e426a115a41727af5d005a0c14dbbcc451813e",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV",
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-12-18T18:59:06Z",
    "title_canon_sha256": "942bf2f7a730d2b7c1769e9a00b6a9d150a5852da704e2b304cf34bdfa6edb5d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2312.11460",
    "kind": "arxiv",
    "version": 3
  }
}