Pith Number

pith:R5EGYQT6

pith:2023:R5EGYQT6UYVBELO2XY2GQN4W2S

not attested not anchored not stored refs pending

Learning Robust, Agile, Natural Legged Locomotion Skills in the Wild

Jianyu Chen, Yikai Wang, Zheyuan Jiang

arxiv:2304.10888 v3 · 2023-04-21 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{R5EGYQT6UYVBELO2XY2GQN4W2S}

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

1 paper in Pith

MuGen: Multi-Skill Generative Locomotion Controller for Humanoid Robots

Receipt and verification

First computed	2026-07-05T06:57:53.217185Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8f486c427ea62a122ddabe34683796d4ae852b518c412bc03cb330036a350fda

Aliases

arxiv: 2304.10888 · arxiv_version: 2304.10888v3 · doi: 10.48550/arxiv.2304.10888 · pith_short_12: R5EGYQT6UYVB · pith_short_16: R5EGYQT6UYVBELO2 · pith_short_8: R5EGYQT6

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/R5EGYQT6UYVBELO2XY2GQN4W2S \
  | 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: 8f486c427ea62a122ddabe34683796d4ae852b518c412bc03cb330036a350fda

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a4365d858eb8631000fb01cb5a65f5949eee54039447d0fa68d236c796702250",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-04-21T11:09:23Z",
    "title_canon_sha256": "69d9ddaa41839a4c280dbf78b8b08872f54dc3dc0651bb693ab1df57f67a248d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2304.10888",
    "kind": "arxiv",
    "version": 3
  }
}