Pith Number

pith:D3FY2BJQ

pith:2026:D3FY2BJQ5H6BBFSN44GP33GHMN

not attested not anchored not stored refs pending

Relational Scene Graphs for Object Grounding of Natural Language Commands

Francesco Verdoja, Julia Kuhn, Tsvetomila Mihaylova, Ville Kyrki

arxiv:2602.04635 v2 · 2026-02-04 · 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{D3FY2BJQ5H6BBFSN44GP33GHMN}

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	2026-07-31T01:33:15.111130Z
Builder	pith-number-builder-2026-05-17-v1
Signature	unsigned_v0
Schema	pith-number/v1.0

Canonical hash

1ecb8d0530e9fc10964de70cfdecc763512d55e4fbbedb3dfed810d25668df10

Aliases

arxiv: 2602.04635 · arxiv_version: 2602.04635v2 · doi: 10.48550/arxiv.2602.04635 · pith_short_12: D3FY2BJQ5H6B · pith_short_16: D3FY2BJQ5H6BBFSN · pith_short_8: D3FY2BJQ

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/D3FY2BJQ5H6BBFSN44GP33GHMN \
  | 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: 1ecb8d0530e9fc10964de70cfdecc763512d55e4fbbedb3dfed810d25668df10

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "aae622ed046a3cea0e2a5220124f2e26e3d15287af7684e3203de89093352b05",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-02-04T15:05:29Z",
    "title_canon_sha256": "a135a40a4f181516bfb856dc13d73a0c16f6da702e756d6fdd5d036826eef67a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.04635",
    "kind": "arxiv",
    "version": 2
  }
}