Pith Number

pith:EP4QY2GM

pith:2026:EP4QY2GMJ2AODL5DVMWUC4GZDR

not attested not anchored not stored refs pending

THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion

Girish Chowdhary, Girish Krishnan, Naveen Kumar Uppalapati, Pranav Asthana, Shivani Kamtikar

arxiv:2606.21792 v1 · 2026-06-19 · cs.RO · cs.AI

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EP4QY2GMJ2AODL5DVMWUC4GZDR}

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	2026-06-23T01:13:22.841868Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

23f90c68cc4e80e1afa3ab2d4170d91c4e84b8803e96127a537a438349f2b388

Aliases

arxiv: 2606.21792 · arxiv_version: 2606.21792v1 · doi: 10.48550/arxiv.2606.21792 · pith_short_12: EP4QY2GMJ2AO · pith_short_16: EP4QY2GMJ2AODL5D · pith_short_8: EP4QY2GM

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/EP4QY2GMJ2AODL5DVMWUC4GZDR \
  | 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: 23f90c68cc4e80e1afa3ab2d4170d91c4e84b8803e96127a537a438349f2b388

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "679105586c2b7454a47dbe7e2eb515f47c5046ddff8a2ad42d64b95bcb62140a",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-19T22:55:22Z",
    "title_canon_sha256": "00b1eada621899520369100d53449e7b006dc5f8f289fcaec887a2d5ae8fadbd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.21792",
    "kind": "arxiv",
    "version": 1
  }
}