Pith Number

pith:NZACOY4D

pith:2026:NZACOY4DVYYC7SIWBP7AWXLYCB

not attested not anchored not stored refs pending

Unified Walking, Running, and Recovery for Humanoids via State-Dependent Adversarial Motion Priors

Liu Zhao, Peng Lu, Wanyue Li, Yichao Zhong, Yidan Lu

arxiv:2605.18611 v1 · 2026-05-18 · 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{NZACOY4DVYYC7SIWBP7AWXLYCB}

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	2026-05-20T00:06:10.827991Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6e40276383ae302fc9160bfe0b5d78104fc6301737f63c7e8baa0294a87e9f38

Aliases

arxiv: 2605.18611 · arxiv_version: 2605.18611v1 · doi: 10.48550/arxiv.2605.18611 · pith_short_12: NZACOY4DVYYC · pith_short_16: NZACOY4DVYYC7SIW · pith_short_8: NZACOY4D

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/NZACOY4DVYYC7SIWBP7AWXLYCB \
  | 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: 6e40276383ae302fc9160bfe0b5d78104fc6301737f63c7e8baa0294a87e9f38

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d3a71f66ace46dc6ba0623a3fd61dbc41b5bb2e6d5f58ee0b55e83c39218d259",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-18T16:21:57Z",
    "title_canon_sha256": "791a9a40323d3363902b3e3eb9b928742fdd3792f1ed206a18930226b1db4b91"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.18611",
    "kind": "arxiv",
    "version": 1
  }
}