Pith Number

pith:SPD7NZXQ

pith:2024:SPD7NZXQ2LUUBSYRP7FCULXMK2

not attested not anchored not stored refs pending

A Learning Framework for Diverse Legged Robot Locomotion Using Barrier-Based Style Rewards

Gijeong Kim, Hae-Won Park, Yong-Hoon Lee

arxiv:2409.15780 v4 · 2024-09-24 · 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{SPD7NZXQ2LUUBSYRP7FCULXMK2}

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

Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study

Receipt and verification

First computed	2026-07-05T11:00:39.172468Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

93c7f6e6f0d2e940cb117fca2a2eec568cf55c88895a532bc82d4eaa71d61eed

Aliases

arxiv: 2409.15780 · arxiv_version: 2409.15780v4 · doi: 10.48550/arxiv.2409.15780 · pith_short_12: SPD7NZXQ2LUU · pith_short_16: SPD7NZXQ2LUUBSYR · pith_short_8: SPD7NZXQ

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/SPD7NZXQ2LUUBSYRP7FCULXMK2 \
  | 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: 93c7f6e6f0d2e940cb117fca2a2eec568cf55c88895a532bc82d4eaa71d61eed

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "646868e298d8aaf7b071061fcd737104b45f5923733ebf179dd2e21c78be8984",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-24T06:22:28Z",
    "title_canon_sha256": "596a6598205b7acbdafc58ef761a555d99a6d4528cc3080f61d911481e2e67cb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.15780",
    "kind": "arxiv",
    "version": 4
  }
}