Pith Number

pith:2UFCOEGW

pith:2023:2UFCOEGWXIJK3I6Y7YLAB4NJGU

not attested not anchored not stored refs pending

Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies

Byron Boots, Carolina Higuera, Haozhi Qi, Joseph Ortiz, Luis Pineda, Mustafa Mukadam

arxiv:2309.16652 v1 · 2023-09-28 · 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{2UFCOEGWXIJK3I6Y7YLAB4NJGU}

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

2 papers in Pith

Geometric Reconstruction of Extrinsic Contact Trajectories using Tactile Sensing and Proprioception for Tool Manipulation

Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation

Receipt and verification

First computed	2026-07-05T06:55:19.563221Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d50a2710d6ba12ada3d8fe1600f1a9350b04bf279d2b7f982fe65242f5e7dd33

Aliases

arxiv: 2309.16652 · arxiv_version: 2309.16652v1 · doi: 10.48550/arxiv.2309.16652 · pith_short_12: 2UFCOEGWXIJK · pith_short_16: 2UFCOEGWXIJK3I6Y · pith_short_8: 2UFCOEGW

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/2UFCOEGWXIJK3I6Y7YLAB4NJGU \
  | 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: d50a2710d6ba12ada3d8fe1600f1a9350b04bf279d2b7f982fe65242f5e7dd33

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d08ef92f860a0f6f94b6b311125ed45162b7cfa8cc8cd57ad998497c97e2117b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-28T17:55:00Z",
    "title_canon_sha256": "b98e2f7677934294ef8ca143a7718ae65ea75da7a06747c1f18e3248a7d6f008"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.16652",
    "kind": "arxiv",
    "version": 1
  }
}