Pith Number

pith:7ANTLLZR

pith:2021:7ANTLLZRNTYFXLKMXSOA3Y6BJG

not attested not anchored not stored refs pending

Synthesizing Diverse and Physically Stable Grasps with Arbitrary Hand Structures using Differentiable Force Closure Estimator

Song-Chun Zhu, Tengyu Liu, Yixin Zhu, Zeyu Liu, Ziyuan Jiao

arxiv:2104.09194 v4 · 2021-04-19 · 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{7ANTLLZRNTYFXLKMXSOA3Y6BJG}

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	2026-07-05T04:35:56.037890Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f81b35af316cf05bad4cbc9c0de3c14982d4e42dbc56255047d71c84f4206b49

Aliases

arxiv: 2104.09194 · arxiv_version: 2104.09194v4 · doi: 10.48550/arxiv.2104.09194 · pith_short_12: 7ANTLLZRNTYF · pith_short_16: 7ANTLLZRNTYFXLKM · pith_short_8: 7ANTLLZR

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/7ANTLLZRNTYFXLKMXSOA3Y6BJG \
  | 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: f81b35af316cf05bad4cbc9c0de3c14982d4e42dbc56255047d71c84f4206b49

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b7e53726731ed0706c6756a1ad26f59c607d2d4f18ae38f21e9f09c5f530339e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-19T10:39:48Z",
    "title_canon_sha256": "24cc41185aded28026c3b98a24f2d84cd8fb55422704c5c3cb5abe5f063bf278"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.09194",
    "kind": "arxiv",
    "version": 4
  }
}