Pith Number

pith:BSMLBKAP

pith:2022:BSMLBKAPFT33TNRZ36CNCFPPAI

not attested not anchored not stored refs pending

Open-vocabulary Queryable Scene Representations for Real World Planning

Austin Stone, Boyuan Chen, Brian Ichter, Daniel Kappler, Fei Xia, Kanishka Rao, Keerthana Gopalakrishnan, Michael S. Ryoo

arxiv:2209.09874 v2 · 2022-09-20 · 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{BSMLBKAPFT33TNRZ36CNCFPPAI}

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.

Cited by

1 paper in Pith

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Receipt and verification

First computed	2026-07-05T05:07:03.447767Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0c98b0a80f2cf7b9b639df84d115ef0226e9e815849eeaeba103c88b4227218a

Aliases

arxiv: 2209.09874 · arxiv_version: 2209.09874v2 · doi: 10.48550/arxiv.2209.09874 · pith_short_12: BSMLBKAPFT33 · pith_short_16: BSMLBKAPFT33TNRZ · pith_short_8: BSMLBKAP

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/BSMLBKAPFT33TNRZ36CNCFPPAI \
  | 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: 0c98b0a80f2cf7b9b639df84d115ef0226e9e815849eeaeba103c88b4227218a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ca47ee0170c1d0e07c0b095dde218ee503f373684e99c1959f788b00b17d99c2",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-20T17:29:56Z",
    "title_canon_sha256": "630ba6988c92ae1f83d5720f75a4ed59cfe51d37281912d5fa69cd5d626ba442"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.09874",
    "kind": "arxiv",
    "version": 2
  }
}