Pith Number

pith:RONGHPCK

pith:2026:RONGHPCK4L3BJYBBAVVIYILIYS

not attested not anchored not stored refs pending

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

An T. Le, Chien Le, Cuc T. Trinh, Phuong Tuan Dat, Tan-Dzung Do, Thanh Ly, Truong-Duy Dang, Vien Anh Ngo

arxiv:2606.20645 v1 · 2026-06-06 · 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{RONGHPCK4L3BJYBBAVVIYILIYS}

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	2026-06-23T00:11:52.439371Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8b9a63bc4ae2f614e021056a8c2168c4b61ec4c0a5840f4c28ea0e811a2d9d6e

Aliases

arxiv: 2606.20645 · arxiv_version: 2606.20645v1 · doi: 10.48550/arxiv.2606.20645 · pith_short_12: RONGHPCK4L3B · pith_short_16: RONGHPCK4L3BJYBB · pith_short_8: RONGHPCK

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/RONGHPCK4L3BJYBBAVVIYILIYS \
  | 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: 8b9a63bc4ae2f614e021056a8c2168c4b61ec4c0a5840f4c28ea0e811a2d9d6e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "aa6c9caebe5b9d6b14026425f3760cccf5f3d8714df4952cab3b499e96e3e6ca",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-06T10:25:13Z",
    "title_canon_sha256": "7db6e42cac6395b01e3195e98801d5b2f3d631b77759500dfc2eaaf33a037637"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.20645",
    "kind": "arxiv",
    "version": 1
  }
}