Pith Number

pith:WSSYZ5JV

pith:2023:WSSYZ5JVTUZEABP7E2ABOOA6T3

not attested not anchored not stored refs pending

RL + Model-based Control: Using On-demand Optimal Control to Learn Versatile Legged Locomotion

Dongho Kang, Fatemeh Zargarbashi, Jin Cheng, Miguel Zamora, Stelian Coros

arxiv:2305.17842 v4 · 2023-05-29 · cs.RO · cs.AI · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{WSSYZ5JVTUZEABP7E2ABOOA6T3}

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	2026-07-05T09:12:53.304788Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b4a58cf5359d324005ff268017381e9ed74f46c8af0b6cc71e096a177e6dc062

Aliases

arxiv: 2305.17842 · arxiv_version: 2305.17842v4 · doi: 10.48550/arxiv.2305.17842 · pith_short_12: WSSYZ5JVTUZE · pith_short_16: WSSYZ5JVTUZEABP7 · pith_short_8: WSSYZ5JV

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/WSSYZ5JVTUZEABP7E2ABOOA6T3 \
  | 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: b4a58cf5359d324005ff268017381e9ed74f46c8af0b6cc71e096a177e6dc062

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bf941c42b1b1e6efa64da4e378c7a0c9ae628fad0a1cdd8647b207edc306d001",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-05-29T01:33:55Z",
    "title_canon_sha256": "a16a2418e52e37127f249124e5fbddc1bf77971b7ee842a770c24ce522b12c86"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2305.17842",
    "kind": "arxiv",
    "version": 4
  }
}