Pith Number

pith:4YPLN4X2

pith:2016:4YPLN4X2OFH2NPDVPQMKYLEF4F

not attested not anchored not stored refs pending

Multi-Fingered Robotic Grasping: A Primer

Joe Falco, Karl Van Wyk, Shuo Liu, Stefano Carpin

arxiv:1607.06620 v1 · 2016-07-22 · 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{4YPLN4X2OFH2NPDVPQMKYLEF4F}

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	2026-05-18T01:10:39.431218Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e61eb6f2fa714fa6bc757c18ac2c85e152a204d66fdaa4cc812d0b385a3594b2

Aliases

arxiv: 1607.06620 · arxiv_version: 1607.06620v1 · doi: 10.48550/arxiv.1607.06620 · pith_short_12: 4YPLN4X2OFH2 · pith_short_16: 4YPLN4X2OFH2NPDV · pith_short_8: 4YPLN4X2

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/4YPLN4X2OFH2NPDVPQMKYLEF4F \
  | 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: e61eb6f2fa714fa6bc757c18ac2c85e152a204d66fdaa4cc812d0b385a3594b2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "63199adf34c2a3a987a3bf6aef52bfb7ab23c2a8da1ea7a0c80dd2764185306d",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-07-22T09:53:26Z",
    "title_canon_sha256": "95620b7afdafabc2fe9207fe5c7660c9af76eb0d518a238a1b006d317695ea78"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1607.06620",
    "kind": "arxiv",
    "version": 1
  }
}