Pith Number

pith:A7WU2BAL

pith:2024:A7WU2BALRJA4KESZV65X4NUEFV

not attested not anchored not stored refs pending

Tac-Man: Tactile-Informed Prior-Free Manipulation of Articulated Objects

Kaspar Althoefer, Lecheng Ruan, Wanlin Li, Yixin Zhu, Yuyang Li, Zhenghao Qi, Zihang Zhao

arxiv:2403.01694 v4 · 2024-03-04 · 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{A7WU2BALRJA4KESZV65X4NUEFV}

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	2026-07-05T12:10:52.402354Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

07ed4d040b8a41c51259afbb7e36842d5446641f6c6098202dd1ebf16fdef95c

Aliases

arxiv: 2403.01694 · arxiv_version: 2403.01694v4 · doi: 10.48550/arxiv.2403.01694 · pith_short_12: A7WU2BALRJA4 · pith_short_16: A7WU2BALRJA4KESZ · pith_short_8: A7WU2BAL

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/A7WU2BALRJA4KESZV65X4NUEFV \
  | 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: 07ed4d040b8a41c51259afbb7e36842d5446641f6c6098202dd1ebf16fdef95c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "09520f87732fa332840f59671e3f5ddc77a855833ba114b103c87596daac7802",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-03-04T03:06:01Z",
    "title_canon_sha256": "3c7228d67ec5b72b0bbef6f0f50b94b7542f9f61c04c3f376415e7cc0b1797bd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2403.01694",
    "kind": "arxiv",
    "version": 4
  }
}