Pith Number

pith:XO4G4YIV

pith:2026:XO4G4YIVDG6YSYJ3TIWYV6KQRS

not attested not anchored not stored refs pending

FT-WBC: Learning Fault-Tolerant Whole-Body Control for Legged Loco-Manipulation

Jiahang Cao, Jinni Zhou, Jun Ma, Pengfei Mai, Qiuyue Liu, Sikai Guo, Yudong Zhong, Zhihai Bi, Ziyan Feng

arxiv:2606.24466 v1 · 2026-06-23 · 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{XO4G4YIVDG6YSYJ3TIWYV6KQRS}

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	2026-06-24T01:15:31.155305Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bbb86e611519bd89613b9a2d8af9508cb03b5365154033a3392fe193a13211f4

Aliases

arxiv: 2606.24466 · arxiv_version: 2606.24466v1 · doi: 10.48550/arxiv.2606.24466 · pith_short_12: XO4G4YIVDG6Y · pith_short_16: XO4G4YIVDG6YSYJ3 · pith_short_8: XO4G4YIV

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/XO4G4YIVDG6YSYJ3TIWYV6KQRS \
  | 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: bbb86e611519bd89613b9a2d8af9508cb03b5365154033a3392fe193a13211f4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7e84319818e5d8d2e7a798e06a4b2e62a286e8229208e6836468897cbfc6da20",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-23T11:58:45Z",
    "title_canon_sha256": "fb825b9c3e3f22dedf718099333973c05c20c96e65fbfee443ed3675579723e7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.24466",
    "kind": "arxiv",
    "version": 1
  }
}