Pith Number

pith:VVLF4LYJ

pith:2025:VVLF4LYJZRA4FO5JRD64QGUISP

not attested not anchored not stored refs pending

Robust Humanoid Walking on Compliant and Uneven Terrain with Deep Reinforcement Learning

Fumio Kanehiro, Mehdi Benallegue, Mitsuharu Morisawa, Rohan P. Singh, Zhaoming Xie

arxiv:2504.13619 v1 · 2025-04-18 · 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{VVLF4LYJZRA4FO5JRD64QGUISP}

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	2026-07-05T10:50:59.177472Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ad565e2f09cc41c2bba988fdc81a8893fb59c9b147924f7fcead40a690613325

Aliases

arxiv: 2504.13619 · arxiv_version: 2504.13619v1 · doi: 10.48550/arxiv.2504.13619 · pith_short_12: VVLF4LYJZRA4 · pith_short_16: VVLF4LYJZRA4FO5J · pith_short_8: VVLF4LYJ

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/VVLF4LYJZRA4FO5JRD64QGUISP \
  | 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: ad565e2f09cc41c2bba988fdc81a8893fb59c9b147924f7fcead40a690613325

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3c61c800da2b03d8ecede15519bac686bebe83b774aebdc5d69d027a91963471",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-18T10:49:07Z",
    "title_canon_sha256": "5e6960cdf3e76b7023805802c2b63b8a87fb90cacc1ff699e1c1c8bb7e4f105e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.13619",
    "kind": "arxiv",
    "version": 1
  }
}