Pith Number

pith:2BOMZRMV

pith:2024:2BOMZRMVIN5UXSEIWZALKEJGZM

not attested not anchored not stored refs pending

OVAL-Prompt: Open-Vocabulary Affordance Localization for Robot Manipulation through LLM Affordance-Grounding

Anthony Opipari, Edmond Tong, Odest Chadwicke Jenkins, Stanley Lewis, Zhen Zeng

arxiv:2404.11000 v2 · 2024-04-17 · 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{2BOMZRMVIN5UXSEIWZALKEJGZM}

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

3 papers in Pith

Affordance Agent Harness: Verification-Gated Skill Orchestration

CLASP: Closed-loop Asynchronous Spatial Perception for Open-vocabulary Desktop Object Grasping

Affordance Agent Harness: Verification-Gated Skill Orchestration

Receipt and verification

First computed	2026-07-05T08:23:21.357274Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d05cccc595437b4bc888b640b51126cb2751751e9016637b3bb90c0c3fff2c94

Aliases

arxiv: 2404.11000 · arxiv_version: 2404.11000v2 · doi: 10.48550/arxiv.2404.11000 · pith_short_12: 2BOMZRMVIN5U · pith_short_16: 2BOMZRMVIN5UXSEI · pith_short_8: 2BOMZRMV

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/2BOMZRMVIN5UXSEIWZALKEJGZM \
  | 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: d05cccc595437b4bc888b640b51126cb2751751e9016637b3bb90c0c3fff2c94

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "141cc4a62d621170eada72ce3578aedc502f6635849f0cf9633392df0cd9a732",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-04-17T02:19:15Z",
    "title_canon_sha256": "d9d6b482d1acee5f5d7aeff982f581c7ff5439616c081d477cae8e918424aa25"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2404.11000",
    "kind": "arxiv",
    "version": 2
  }
}