Pith Number

pith:7VUP2N2O

pith:2026:7VUP2N2O4D6CTYCYVHVPDEJTQW

not attested not anchored not stored refs pending

Where to Touch, How to Contact: Hierarchical RL-MPC Framework for Geometry-Aware Long-Horizon Dexterous Manipulation

Michael Posa, Wanxin Jin, Yu Xiang, Zhixian Xie

arxiv:2601.10930 v3 · 2026-01-16 · 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{7VUP2N2O4D6CTYCYVHVPDEJTQW}

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	2026-06-08T01:03:55.613496Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fd68fd374ee0fc29e058a9eaf19133858d222a094f0c7250ca3e305a72603b5e

Aliases

arxiv: 2601.10930 · arxiv_version: 2601.10930v3 · doi: 10.48550/arxiv.2601.10930 · pith_short_12: 7VUP2N2O4D6C · pith_short_16: 7VUP2N2O4D6CTYCY · pith_short_8: 7VUP2N2O

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/7VUP2N2O4D6CTYCYVHVPDEJTQW \
  | 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: fd68fd374ee0fc29e058a9eaf19133858d222a094f0c7250ca3e305a72603b5e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "16d6e49ed6b2b3ea883c4671ff33bbbee73c928a233a7e3fba9aa8dc9b0da00e",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-01-16T01:20:15Z",
    "title_canon_sha256": "c31e9daad94228f3b06992d05e5b2bbbc541edb4f6fa66fa4a5e168f857830f9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2601.10930",
    "kind": "arxiv",
    "version": 3
  }
}