Pith Number

pith:XMH6452J

pith:2026:XMH6452JNIXKJJE6ALP7AFLEC5

not attested not anchored not stored refs pending

Stubborn: A Streamlined and Unified Reinforcement Learning Framework for Robust Motion Tracking and Fall Recovery for Humanoids

He Kong, Xiao Ren, Yuhui Yang, Zhijie Liu, Zongbiao Weng

arxiv:2606.12814 v1 · 2026-06-11 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XMH6452JNIXKJJE6ALP7AFLEC5}

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	2026-06-12T01:08:52.359678Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bb0fee77496a2ea4a49e02dff0156417718b54181ad5e38b9270258adde1d2e4

Aliases

arxiv: 2606.12814 · arxiv_version: 2606.12814v1 · doi: 10.48550/arxiv.2606.12814 · pith_short_12: XMH6452JNIXK · pith_short_16: XMH6452JNIXKJJE6 · pith_short_8: XMH6452J

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/XMH6452JNIXKJJE6ALP7AFLEC5 \
  | 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: bb0fee77496a2ea4a49e02dff0156417718b54181ad5e38b9270258adde1d2e4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "766de80995ef2219d96713f95ba0d20b96b74c137b6ff951a25010f4e3f3b42d",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-11T02:13:53Z",
    "title_canon_sha256": "8c182f2a239efaf07611b2948caba4d8f77b4fcdbb2513bf569c1b7afa66b065"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.12814",
    "kind": "arxiv",
    "version": 1
  }
}