Pith Number

pith:5ZI5VTXJ

pith:2019:5ZI5VTXJYJDJQ2HMRFS75CGA4H

not attested not anchored not stored refs pending

Effective Estimation of Contact Force and Torque for Vision-based Tactile Sensor with Helmholtz-Hodge Decomposition

Alexander Yu Tse, Michael Yu Wang, Yang Yang, Yazhan Zhang, Zicheng Kan

arxiv:1906.09460 v1 · 2019-06-22 · 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{5ZI5VTXJYJDJQ2HMRFS75CGA4H}

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	2026-05-17T23:42:37.947491Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ee51dacee9c2469868ec8965fe88c0e1c477613a1ae1892c428b65244b64dffb

Aliases

arxiv: 1906.09460 · arxiv_version: 1906.09460v1 · doi: 10.48550/arxiv.1906.09460 · pith_short_12: 5ZI5VTXJYJDJ · pith_short_16: 5ZI5VTXJYJDJQ2HM · pith_short_8: 5ZI5VTXJ

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/5ZI5VTXJYJDJQ2HMRFS75CGA4H \
  | 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: ee51dacee9c2469868ec8965fe88c0e1c477613a1ae1892c428b65244b64dffb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "74a3ea87befe9f847d36fb5260975f0f48be0000f677d7bc6b4796680f05c34c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-06-22T15:19:26Z",
    "title_canon_sha256": "b99475b341808402e831fc503f66ffff1244ddb9fab4333a756d19f1f54a5407"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1906.09460",
    "kind": "arxiv",
    "version": 1
  }
}