Pith Number

pith:DYHYD7YS

pith:2026:DYHYD7YSQZJMIQ3EXX6M2S344L

not attested not anchored not stored refs pending

VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation

Binghao Huang, Juan Wachs, Sheeraz Athar, Yuhao Zhou, Yunzhu Li, Yu She, Zhixian Hu

arxiv:2607.15448 v1 · 2026-07-16 · 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{DYHYD7YSQZJMIQ3EXX6M2S344L}

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	2026-07-20T00:18:34.631930Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1e0f81ff128652c44364bdfccd4b7ce2e12bccd0fd552c136b9e6dafa8688dd2

Aliases

arxiv: 2607.15448 · arxiv_version: 2607.15448v1 · doi: 10.48550/arxiv.2607.15448 · pith_short_12: DYHYD7YSQZJM · pith_short_16: DYHYD7YSQZJMIQ3E · pith_short_8: DYHYD7YS

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/DYHYD7YSQZJMIQ3EXX6M2S344L \
  | 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: 1e0f81ff128652c44364bdfccd4b7ce2e12bccd0fd552c136b9e6dafa8688dd2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9db97c0500e82a626c08d750fd298b9bb47154bc3658d728ee1007705308cc29",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-16T20:41:00Z",
    "title_canon_sha256": "589cbfa727c15f88f4eac92c3477ed1fd50dbd61c577d01d2578d39e41c09996"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.15448",
    "kind": "arxiv",
    "version": 1
  }
}