Pith Number

pith:2UAK56VL

pith:2019:2UAK56VLP7DUL5P6B6DQG6GZ35

not attested not anchored not stored refs pending

Optimization Model for Planning Precision Grasps with Multi-Fingered Hands

Masayoshi Tomizuka, Xinghao Zhu, Yongxiang Fan

arxiv:1904.07332 v1 · 2019-04-15 · 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{2UAK56VLP7DUL5P6B6DQG6GZ35}

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	2026-05-17T23:48:28.911294Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d500aefaab7fc745f5fe0f870378d9df786086926098f30c7f139ef71a0ffdb9

Aliases

arxiv: 1904.07332 · arxiv_version: 1904.07332v1 · doi: 10.48550/arxiv.1904.07332 · pith_short_12: 2UAK56VLP7DU · pith_short_16: 2UAK56VLP7DUL5P6 · pith_short_8: 2UAK56VL

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/2UAK56VLP7DUL5P6B6DQG6GZ35 \
  | 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: d500aefaab7fc745f5fe0f870378d9df786086926098f30c7f139ef71a0ffdb9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5e36e66e3f00121ebd8e776130b774cf12be99a0704014fac14e9ee06ad32b9e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-15T21:26:42Z",
    "title_canon_sha256": "6704e7503ec8aa37c7ddd3c7e3c17da117d4b4ff70c25ffbd69f82dc2b3c72d9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.07332",
    "kind": "arxiv",
    "version": 1
  }
}