Pith Number

pith:P7UHHE2M

pith:2025:P7UHHE2MVR5JEQ2JUL3SPSUHY5

not attested not anchored not stored refs pending

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization

Haibo Gao, Haoyu Wang, Liang Ding, Peng Xu, Ruyi Zhou, Tie Liu, Zhelin Zhang, Zongquan Deng

arxiv:2506.05115 v1 · 2025-06-05 · 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{P7UHHE2MVR5JEQ2JUL3SPSUHY5}

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	2026-07-05T11:16:42.618003Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7fe873934cac7a924349a2f727ca87c76a908065db1cfd1006cd80e02aa7ea99

Aliases

arxiv: 2506.05115 · arxiv_version: 2506.05115v1 · doi: 10.48550/arxiv.2506.05115 · pith_short_12: P7UHHE2MVR5J · pith_short_16: P7UHHE2MVR5JEQ2J · pith_short_8: P7UHHE2M

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/P7UHHE2MVR5JEQ2JUL3SPSUHY5 \
  | 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: 7fe873934cac7a924349a2f727ca87c76a908065db1cfd1006cd80e02aa7ea99

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ff24b990b6fdd1cf54894a268b13df04d4cb52907f74d8b14d9c3b6acd6047c2",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-06-05T15:00:27Z",
    "title_canon_sha256": "3e496146f389d06369e924bf619ee97773b5a8a8e76243eb040a9f1b3963b2fc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.05115",
    "kind": "arxiv",
    "version": 1
  }
}