Pith Number

pith:QQZVFZVW

pith:2025:QQZVFZVWQWCCBYDKF3FYLSCOAF

not attested not anchored not stored refs pending

HuB: Learning Extreme Humanoid Balance

Boyuan Zheng, Chuye Hong, Fanqi Lin, Geng Chen, Jiongye Li, Koushil Sreenath, Ruiqian Nai, Tong Zhang, Yang Gao, Yen-Jen Wang, Yingdong Hu

arxiv:2505.07294 v2 · 2025-05-12 · cs.RO · cs.AI · 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{QQZVFZVWQWCCBYDKF3FYLSCOAF}

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

8 papers in Pith

OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids

TACT-ful: Multi-Channel Terrain Affordance and Compliance Training for Payload-Robust Perceptive Humanoid Locomotion

M3imic: Learning a Versatile Whole-Body Controller for Multimodal Motion Mimicking

Safety-Critical Whole-Body Control for Humanoid Robots via Input-to-State Safe Control Barrier Functions

Receipt and verification

First computed	2026-07-05T11:54:46.861945Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

843352e6b6858420e06a2ecb85c84e017c1af774055c7b515bb3df8422cb460e

Aliases

arxiv: 2505.07294 · arxiv_version: 2505.07294v2 · doi: 10.48550/arxiv.2505.07294 · pith_short_12: QQZVFZVWQWCC · pith_short_16: QQZVFZVWQWCCBYDK · pith_short_8: QQZVFZVW

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/QQZVFZVWQWCCBYDKF3FYLSCOAF \
  | 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: 843352e6b6858420e06a2ecb85c84e017c1af774055c7b515bb3df8422cb460e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "05b1f070f95802b5db5a5ac72fcd47f889d5fd7171a8f7c0cdb2e46fdcd73872",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-12T07:31:42Z",
    "title_canon_sha256": "e9951d6447e1f52994b06640190ccd8f77d26bfb7d03de265fffe8242751125a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.07294",
    "kind": "arxiv",
    "version": 2
  }
}