Pith Number

pith:R6TRWBRR

pith:2023:R6TRWBRR2ZBFPUSZCSGSMM5ZED

not attested not anchored not stored refs pending

Two-Stage Learning of Highly Dynamic Motions with Rigid and Articulated Soft Quadrupeds

Antonin Raffin, Cosimo Della Santina, Francecso Vezzi, Jens Kober, Jiatao Ding

arxiv:2309.09682 v2 · 2023-09-18 · 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{R6TRWBRR2ZBFPUSZCSGSMM5ZED}

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	2026-07-05T07:51:32.373716Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8fa71b0631d64257d259148d2633b920dc89c35cac0f76ecdd1b8ea8c972457c

Aliases

arxiv: 2309.09682 · arxiv_version: 2309.09682v2 · doi: 10.48550/arxiv.2309.09682 · pith_short_12: R6TRWBRR2ZBF · pith_short_16: R6TRWBRR2ZBFPUSZ · pith_short_8: R6TRWBRR

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/R6TRWBRR2ZBFPUSZCSGSMM5ZED \
  | 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: 8fa71b0631d64257d259148d2633b920dc89c35cac0f76ecdd1b8ea8c972457c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ad6a26a99c21f52ba9818b9e82357af9c01c6dafa15b41917ec9779e878e6c30",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-18T11:40:47Z",
    "title_canon_sha256": "1b723557f9eb3d6ff8bd6fc09ba639535943ba9f8408ed5a93f72be39bca3c51"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.09682",
    "kind": "arxiv",
    "version": 2
  }
}