Pith Number

pith:BMGSMSK6

pith:2026:BMGSMSK6E6FOSOLQMULOAO64JF

not attested not anchored not stored refs pending

GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulation

Beichen Shao, Chao Chen, Fausto Giunchiglia, Heng Su, Mengying Xie, Mingyan Li, Wanyi Zhang, Yan Ding

arxiv:2605.30740 v1 · 2026-05-29 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BMGSMSK6E6FOSOLQMULOAO64JF}

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	2026-06-01T01:03:13.537464Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0b0d26495e278ae939706516e03bdc49646e0a97ba6ba16979ec66fae8194c28

Aliases

arxiv: 2605.30740 · arxiv_version: 2605.30740v1 · doi: 10.48550/arxiv.2605.30740 · pith_short_12: BMGSMSK6E6FO · pith_short_16: BMGSMSK6E6FOSOLQ · pith_short_8: BMGSMSK6

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/BMGSMSK6E6FOSOLQMULOAO64JF \
  | 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: 0b0d26495e278ae939706516e03bdc49646e0a97ba6ba16979ec66fae8194c28

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "112ce1312ac2fc6ee00f90628db9872a014945f1b3b2d7573bb1304e4ad07135",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-29T02:09:17Z",
    "title_canon_sha256": "44af9d9735a477983d555ee27806088b166680196a71b7708b7ff33986578726"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.30740",
    "kind": "arxiv",
    "version": 1
  }
}