Pith Number

pith:BKBF5PIX

pith:2025:BKBF5PIXEPKTON2F3OKPLEROSV

not attested not anchored not stored refs pending

FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation

Alois Christian Knoll, Boyang Zhong, Hongli Xu, Jianwei Zhang, Kaixin Bai, Lei Zhang, Xiaoyue Hu, Zhaopeng Chen, Zhenshan Bing, Zolt\'an-Csaba M\'arton

arxiv:2509.19102 v2 · 2025-09-23 · cs.RO · cs.AI · cs.CV

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BKBF5PIXEPKTON2F3OKPLEROSV}

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	2026-05-20T00:04:13.634537Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0a825ebd1723d5373745db94f5922e9567e3f77518974c22456bcc55e5cb93ef

Aliases

arxiv: 2509.19102 · arxiv_version: 2509.19102v2 · doi: 10.48550/arxiv.2509.19102 · pith_short_12: BKBF5PIXEPKT · pith_short_16: BKBF5PIXEPKTON2F · pith_short_8: BKBF5PIX

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/BKBF5PIXEPKTON2F3OKPLEROSV \
  | 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: 0a825ebd1723d5373745db94f5922e9567e3f77518974c22456bcc55e5cb93ef

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5d600dae306e9ec323b5b6da5322d6dca179b80d0d6ebff30d4b87aa20fd14df",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-23T14:49:05Z",
    "title_canon_sha256": "6431f20091184398ff6f619a049582f0a76c3abd94ace4bd31088ba9579e644b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.19102",
    "kind": "arxiv",
    "version": 2
  }
}