Pith Number

pith:EBMABHDH

pith:2023:EBMABHDHBI6ADOX6MLPH6D2EWM

not attested not anchored not stored refs pending

PONG: Probabilistic Object Normals for Grasping via Analytic Bounds on Force Closure Probability

Aaron D. Ames, Albert H. Li, Preston Culbertson

arxiv:2309.16930 v1 · 2023-09-29 · 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{EBMABHDHBI6ADOX6MLPH6D2EWM}

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

Grasp Execution Without a Planner: Configuration-Space Grasp Distance Fields with Certified Safety & Guaranteed Quality

Receipt and verification

First computed	2026-07-05T06:55:29.931403Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2058009c670a3c01bafe62de7f0f44b30b3bf2f22ef67d22ba2f771e123fc6a6

Aliases

arxiv: 2309.16930 · arxiv_version: 2309.16930v1 · doi: 10.48550/arxiv.2309.16930 · pith_short_12: EBMABHDHBI6A · pith_short_16: EBMABHDHBI6ADOX6 · pith_short_8: EBMABHDH

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/EBMABHDHBI6ADOX6MLPH6D2EWM \
  | 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: 2058009c670a3c01bafe62de7f0f44b30b3bf2f22ef67d22ba2f771e123fc6a6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c2d9412b7c6b6aeb623a07c00caca0c5c60b6c769243320bca41d1e4c6c40ab4",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-29T02:13:54Z",
    "title_canon_sha256": "3ec9191dda09808a43157e31e4ea9fa874f3eeb106855e746b58d913db3e4db1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.16930",
    "kind": "arxiv",
    "version": 1
  }
}