Pith Number

pith:ENGA22CV

pith:2024:ENGA22CVWZ7NJB5P2B32XMNCXF

not attested not anchored not stored refs pending

Dynamic On-Palm Manipulation via Controlled Sliding

Michael Posa, William Yang

arxiv:2405.08731 v2 · 2024-05-14 · 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{ENGA22CVWZ7NJB5P2B32XMNCXF}

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

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Receipt and verification

First computed	2026-07-05T08:42:36.197697Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

234c0d6855b67ed487afd077abb1a2b9688d2d5af3a59afc740028bbd82a72f2

Aliases

arxiv: 2405.08731 · arxiv_version: 2405.08731v2 · doi: 10.48550/arxiv.2405.08731 · pith_short_12: ENGA22CVWZ7N · pith_short_16: ENGA22CVWZ7NJB5P · pith_short_8: ENGA22CV

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/ENGA22CVWZ7NJB5P2B32XMNCXF \
  | 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: 234c0d6855b67ed487afd077abb1a2b9688d2d5af3a59afc740028bbd82a72f2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ce6cf2836d0a9c001623f026a1c88c02f96f312b3301529699ac8a117b444dfc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-05-14T16:16:43Z",
    "title_canon_sha256": "f3e53f34f41afc45a7f2faf736d6f4cb33799f3b7f15541c0031fcf071b8b2e5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2405.08731",
    "kind": "arxiv",
    "version": 2
  }
}