Pith Number

pith:2AP37RE5

pith:2026:2AP37RE5P2HQIEGNJD7IMVXKHS

not attested not anchored not stored refs pending

HERO: Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping

Arjun Gupta, Runpei Dong, Saurabh Gupta, Xialin He, Ziyan Li

arxiv:2602.16705 v3 · 2026-02-18 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{2AP37RE5P2HQIEGNJD7IMVXKHS}

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.

Cited by

1 paper in Pith

CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

Receipt and verification

First computed	2026-06-05T01:14:35.491517Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d01fbfc49d7e8f0410cd48fe8656ea3c8efdd76ddd0e8d242d8857dce7a30f7c

Aliases

arxiv: 2602.16705 · arxiv_version: 2602.16705v3 · doi: 10.48550/arxiv.2602.16705 · pith_short_12: 2AP37RE5P2HQ · pith_short_16: 2AP37RE5P2HQIEGN · pith_short_8: 2AP37RE5

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/2AP37RE5P2HQIEGNJD7IMVXKHS \
  | 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: d01fbfc49d7e8f0410cd48fe8656ea3c8efdd76ddd0e8d242d8857dce7a30f7c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8d6d9d08eac66eb09a67cda77fac74883520e4a4a1c9f1cd18c3588022db3ade",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-02-18T18:55:02Z",
    "title_canon_sha256": "7333827fdcb74eebfb731cfeba5aa93b335c53b5db404a9176570b189459bd7a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.16705",
    "kind": "arxiv",
    "version": 3
  }
}