Pith Number

pith:SSY6JWMR

pith:2026:SSY6JWMRPTQXHVS5LFQYK3MNDD

not attested not anchored not stored refs pending

Athena-WBC: Capability-Aligned Policy Experts for Long-Tail Humanoid Whole-Body Control

Chuanzheng Li, Jie Chen, Ningyuan Zhang, Shidi Li, Shuaikang Ma, Xicun Yang, Yuan Jiang, Yuzhi Jiang, Zhiyi Rong

arxiv:2607.04837 v1 · 2026-07-06 · 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{SSY6JWMRPTQXHVS5LFQYK3MNDD}

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	2026-07-07T02:20:06.358971Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

94b1e4d9917ce173d65d5961856d8d18c6d0616f19851e6d277037b8f827261f

Aliases

arxiv: 2607.04837 · arxiv_version: 2607.04837v1 · doi: 10.48550/arxiv.2607.04837 · pith_short_12: SSY6JWMRPTQX · pith_short_16: SSY6JWMRPTQXHVS5 · pith_short_8: SSY6JWMR

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/SSY6JWMRPTQXHVS5LFQYK3MNDD \
  | 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: 94b1e4d9917ce173d65d5961856d8d18c6d0616f19851e6d277037b8f827261f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a1a3fa0f27d60c2109e13d0ccbdecd25fc2285488259dec54d25009f4eacd39a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-06T09:10:04Z",
    "title_canon_sha256": "5955bcdffcdb4bd063c4af907bc072d839d346e32ce9ae6c5912fe096cdb3822"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.04837",
    "kind": "arxiv",
    "version": 1
  }
}