Pith Number

pith:PX2QSMHC

pith:2022:PX2QSMHCSHOAMYUSWKZJK6HZ4C

not attested not anchored not stored refs pending

Saving the Limping: Fault-tolerant Quadruped Locomotion via Reinforcement Learning

Dikai Liu, Jianxiong Yin, Simon See, Tianwei Zhang

arxiv:2210.00474 v3 · 2022-10-02 · 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{PX2QSMHCSHOAMYUSWKZJK6HZ4C}

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

2 papers in Pith

FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

Receipt and verification

First computed	2026-07-05T09:26:16.991374Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7df50930e291dc066292b2b29578f9e09f38b88978f1e124b3c03998ff673a3d

Aliases

arxiv: 2210.00474 · arxiv_version: 2210.00474v3 · doi: 10.48550/arxiv.2210.00474 · pith_short_12: PX2QSMHCSHOA · pith_short_16: PX2QSMHCSHOAMYUS · pith_short_8: PX2QSMHC

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/PX2QSMHCSHOAMYUSWKZJK6HZ4C \
  | 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: 7df50930e291dc066292b2b29578f9e09f38b88978f1e124b3c03998ff673a3d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e8ff5215fe7a4fd1c0b62ea6265170ab24acce4ac1872391e071d9715025d532",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-02T09:47:47Z",
    "title_canon_sha256": "44ae8ad14bf5f759d2422ab41eea5b530bd0c4f757a23bea27786d718ced2485"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.00474",
    "kind": "arxiv",
    "version": 3
  }
}