Pith Number

pith:AORWD4HZ

pith:2026:AORWD4HZU7EOZUP5OET32TP5KM

not attested not anchored not stored refs pending

Action-Effect Memory Pretraining for Robot Manipulation

Boyang Cai, Jiaxi Li, Qiwei Liang, Renjing Xu, Sitong Zhuang, Xianpeng Wang, Yijing Zhou, Yunyang Mo

arxiv:2606.12499 v1 · 2026-06-10 · 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{AORWD4HZU7EOZUP5OET32TP5KM}

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	2026-06-12T00:07:52.532722Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

03a361f0f9a7c8ecd1fd7127bd4dfd53372ceffb0dedfa11e8656b2252c53ce2

Aliases

arxiv: 2606.12499 · arxiv_version: 2606.12499v1 · doi: 10.48550/arxiv.2606.12499 · pith_short_12: AORWD4HZU7EO · pith_short_16: AORWD4HZU7EOZUP5 · pith_short_8: AORWD4HZ

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/AORWD4HZU7EOZUP5OET32TP5KM \
  | 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: 03a361f0f9a7c8ecd1fd7127bd4dfd53372ceffb0dedfa11e8656b2252c53ce2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "43d0e35c907a868c67f0000e7f22f7c4b4a43145cc4435746d7eee46421ae92a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-10T13:58:14Z",
    "title_canon_sha256": "bbf91d22400000df1bb89659f896e8b47ac0ef8b95d07addd5e96e4b5d686ffb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.12499",
    "kind": "arxiv",
    "version": 1
  }
}