Pith Number

pith:DZ4JJS3I

pith:2023:DZ4JJS3I6ZEUEI7LLR7EJ2JAQE

not attested not anchored not stored refs pending

Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement

Alberto Rodriguez, Alina Sarmiento, Ankit Goyal, Anthony Simeonov, Dieter Fox, Lin Yen-Chen, Lucas Manuelli, Pulkit Agrawal

arxiv:2307.04751 v1 · 2023-07-10 · cs.RO · cs.CV · 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{DZ4JJS3I6ZEUEI7LLR7EJ2JAQE}

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

3 papers in Pith

3D Diffuser Actor: Policy Diffusion with 3D Scene Representations

HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model

3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Receipt and verification

First computed	2026-07-05T06:29:16.916972Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1e7894cb68f6494223eb5c7e44e9208125ecaf63c6b5fc4c26e3ed79df3298b7

Aliases

arxiv: 2307.04751 · arxiv_version: 2307.04751v1 · doi: 10.48550/arxiv.2307.04751 · pith_short_12: DZ4JJS3I6ZEU · pith_short_16: DZ4JJS3I6ZEUEI7L · pith_short_8: DZ4JJS3I

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/DZ4JJS3I6ZEUEI7LLR7EJ2JAQE \
  | 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: 1e7894cb68f6494223eb5c7e44e9208125ecaf63c6b5fc4c26e3ed79df3298b7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "577cbf12769fab810bb58c04b6e40c53d1de6de392d30a7edb2ac888cc949ca1",
    "cross_cats_sorted": [
      "cs.CV",
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-07-10T17:56:06Z",
    "title_canon_sha256": "4ca206041248ced1479188e37a2d9e484118838384fa5350919d3ec38db8c5c3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2307.04751",
    "kind": "arxiv",
    "version": 1
  }
}