Pith Number

pith:BSWNSIIM

pith:2025:BSWNSIIMUPGEFXFDDREU5CGQCK

not attested not anchored not stored refs pending

Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control

Adithyavairavan Murali, Ajay Mandlekar, Balakumar Sundaralingam, Clemens Eppner, Ingmar Posner, Jun Yamada

arxiv:2509.06201 v1 · 2025-09-07 · cs.RO · cs.AI · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{BSWNSIIMUPGEFXFDDREU5CGQCK}

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

GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping

Receipt and verification

First computed	2026-07-05T12:06:31.648946Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d

Aliases

arxiv: 2509.06201 · arxiv_version: 2509.06201v1 · doi: 10.48550/arxiv.2509.06201 · pith_short_12: BSWNSIIMUPGE · pith_short_16: BSWNSIIMUPGEFXFD · pith_short_8: BSWNSIIM

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/BSWNSIIMUPGEFXFDDREU5CGQCK \
  | 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: 0cacd9210ca3cc42dca31c494e88d0128000222bdcf249b3402235213ea5c17d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1b2df7c1b257738443ea4125a93e65b28423e2fdc4e05b94b87fb3c88bafd404",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-07T20:28:21Z",
    "title_canon_sha256": "6c27996151d0454eeda4d60984994a2d628f1163719a422ec896bfb3fe4097f5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.06201",
    "kind": "arxiv",
    "version": 1
  }
}