Pith Number

pith:A7SPQZW6

pith:2025:A7SPQZW6TARLGCQZXJAX3BFUJN

not attested not anchored not stored refs pending

Robust Peg-in-Hole Assembly under Uncertainties via Compliant and Interactive Contact-Rich Manipulation

Howard H. Qian, Kaiyu Hang, Kenneth Kimble, Podshara Chanrungmaneekul, Robert Seney, Yiting Chen

arxiv:2506.22766 v1 · 2025-06-28 · 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{A7SPQZW6TARLGCQZXJAX3BFUJN}

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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

From a Single Demonstration to a General Policy for Contact-Rich Manipulation

Receipt and verification

First computed	2026-07-05T11:28:45.110743Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

07e4f866de9822b30a19ba417d84b44b403f39fa2de9567a198fae58605022ca

Aliases

arxiv: 2506.22766 · arxiv_version: 2506.22766v1 · doi: 10.48550/arxiv.2506.22766 · pith_short_12: A7SPQZW6TARL · pith_short_16: A7SPQZW6TARLGCQZ · pith_short_8: A7SPQZW6

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/A7SPQZW6TARLGCQZXJAX3BFUJN \
  | 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: 07e4f866de9822b30a19ba417d84b44b403f39fa2de9567a198fae58605022ca

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b8833ea1e71840b79bbf58448f39d6921f1cbae0ee9c19dcc2622b3d3e2c9634",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-06-28T06:02:42Z",
    "title_canon_sha256": "331c2f0e8570cfad74cc1abc3162f1346736fe53b5a2b8ba5c5c5b1a55abb9e1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.22766",
    "kind": "arxiv",
    "version": 1
  }
}