Pith Number

pith:VYA4GHHK

pith:2022:VYA4GHHKOHXBDK2VF2EUYXMO2Y

not attested not anchored not stored refs pending

Sim-to-Real Transfer of Compliant Bipedal Locomotion on Torque Sensor-Less Gear-Driven Humanoid

Kuniyuki Takahashi, Shimpei Masuda

arxiv:2204.03897 v4 · 2022-04-08 · 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{VYA4GHHKOHXBDK2VF2EUYXMO2Y}

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	2026-07-05T07:21:38.404113Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ae01c31cea71ee11ab552e894c5d8ed6223e759aee05db41a4a97b138ddac87c

Aliases

arxiv: 2204.03897 · arxiv_version: 2204.03897v4 · doi: 10.48550/arxiv.2204.03897 · pith_short_12: VYA4GHHKOHXB · pith_short_16: VYA4GHHKOHXBDK2V · pith_short_8: VYA4GHHK

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/VYA4GHHKOHXBDK2VF2EUYXMO2Y \
  | 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: ae01c31cea71ee11ab552e894c5d8ed6223e759aee05db41a4a97b138ddac87c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6ccb71b32f5f8b397334e7a81f2a0a8c3dfc5fe63b46375c4325a92705021bba",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-04-08T07:50:51Z",
    "title_canon_sha256": "4cadabe2a50a19e72c64c171350b27ab55c6b1f61b6d701ccefcbb8a81000e2a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2204.03897",
    "kind": "arxiv",
    "version": 4
  }
}