Pith Number

pith:6WLEZ2NN

pith:2023:6WLEZ2NNJGO2ZFAFI6THOIFM5A

not attested not anchored not stored refs pending

Efficient Online Learning of Contact Force Models for Connector Insertion

Ajinkya Jain, Keegan Go, Kevin Tracy, Stefan Schaal, Tom Erez, Yuval Tassa, Zachary Manchester

arxiv:2312.09190 v1 · 2023-12-14 · 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{6WLEZ2NNJGO2ZFAFI6THOIFM5A}

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

1 paper in Pith

The Robot of Theseus: A modular robotic testbed for legged locomotion

Receipt and verification

First computed	2026-07-05T07:24:15.905421Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae

Aliases

arxiv: 2312.09190 · arxiv_version: 2312.09190v1 · doi: 10.48550/arxiv.2312.09190 · pith_short_12: 6WLEZ2NNJGO2 · pith_short_16: 6WLEZ2NNJGO2ZFAF · pith_short_8: 6WLEZ2NN

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/6WLEZ2NNJGO2ZFAFI6THOIFM5A \
  | 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: f5964ce9ad499dac940547a67720ace81ad9d05ec98c895d41f5bde34d0577ae

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "919c6566b1790a5f6901f6f2f3b2d98bffe0dbaddf8886ea8d8637cd82ae2ae2",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-12-14T18:11:34Z",
    "title_canon_sha256": "0cd81aaba6ee8b94094bffc8ac4627ea4d93824aefa7d7e7f380f1dad4c53b37"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2312.09190",
    "kind": "arxiv",
    "version": 1
  }
}