Pith Number

pith:COIVWEKU

pith:2026:COIVWEKU63CRX6JJR476DZHSLD

not attested not anchored not stored refs pending

Accelerating and Scaling MPC-Guided Reinforcement Learning for Humanoid Locomotion and Manipulation

Aaron D. Ames, J\'an Drgo\v{n}a, Junheng Li, Liang Wu, Lizhi Yang, Sergio A. Esteban

arxiv:2606.05687 v1 · 2026-06-04 · cs.RO · 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{COIVWEKU63CRX6JJR476DZHSLD}

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	2026-06-05T01:14:59.323626Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

13915b1154f6c51bf9298f3fe1e4f258e20dff2b7ec3b26bde990577aa53a0e6

Aliases

arxiv: 2606.05687 · arxiv_version: 2606.05687v1 · doi: 10.48550/arxiv.2606.05687 · pith_short_12: COIVWEKU63CR · pith_short_16: COIVWEKU63CRX6JJ · pith_short_8: COIVWEKU

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/COIVWEKU63CRX6JJR476DZHSLD \
  | 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: 13915b1154f6c51bf9298f3fe1e4f258e20dff2b7ec3b26bde990577aa53a0e6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "50c42c45c2f3bbd8ee91d0e96885e5f8245eb979f34a35e5b5783dde18c4b586",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-04T04:12:47Z",
    "title_canon_sha256": "712550cddf86bc8a4cbb551b363f571aadbabc61ce0972db3f6d016e2c895d4b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.05687",
    "kind": "arxiv",
    "version": 1
  }
}