Pith Number

pith:6JZ6VT33

pith:2026:6JZ6VT33LOETJAVXX6XVBAKDB2

not attested not anchored not stored refs pending

Simultaneous Contact Selection and Planning for Contact-Rich Manipulation with Cascaded Optimization

Bi-Ke Zhu, Dandan Zhang, Han Yang, Haoxiang Liang, Jiankun Wang, Xingrong Diao, Zhe Zhang

arxiv:2605.27972 v1 · 2026-05-27 · 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{6JZ6VT33LOETJAVXX6XVBAKDB2}

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	2026-05-28T01:04:54.943588Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f273eacf7b5b893482b7bfaf5081430e8cd2440be250fdbef837766095b6c476

Aliases

arxiv: 2605.27972 · arxiv_version: 2605.27972v1 · doi: 10.48550/arxiv.2605.27972 · pith_short_12: 6JZ6VT33LOET · pith_short_16: 6JZ6VT33LOETJAVX · pith_short_8: 6JZ6VT33

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/6JZ6VT33LOETJAVXX6XVBAKDB2 \
  | 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: f273eacf7b5b893482b7bfaf5081430e8cd2440be250fdbef837766095b6c476

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2fdafcbbd68122ee523947e0920a538b13f9a35cb3ad5d48341c42db4b59bae6",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-27T05:07:19Z",
    "title_canon_sha256": "ee6040f29463fec3330299bca44fb7384e1acd2e90eacaad37a0bf59a7895300"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.27972",
    "kind": "arxiv",
    "version": 1
  }
}