Pith Number

pith:ESKZ7ZLA

pith:2021:ESKZ7ZLA5Y6TSVN5NH7Z37U3WD

not attested not anchored not stored refs pending

REGRAD: A Large-Scale Relational Grasp Dataset for Safe and Object-Specific Robotic Grasping in Clutter

Binglei Zhao, Deyu Yang, Hanbo Zhang, Han Wang, Jishiyu Ding, Nanning Zheng, Xuguang Lan

arxiv:2104.14118 v4 · 2021-04-29 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ESKZ7ZLA5Y6TSVN5NH7Z37U3WD}

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	2026-07-05T03:39:14.650633Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

24959fe560ee3d3955bd69ff9dfe9bb0e1f65d50e6effeb364463e218f25d8b8

Aliases

arxiv: 2104.14118 · arxiv_version: 2104.14118v4 · doi: 10.48550/arxiv.2104.14118 · pith_short_12: ESKZ7ZLA5Y6T · pith_short_16: ESKZ7ZLA5Y6TSVN5 · pith_short_8: ESKZ7ZLA

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/ESKZ7ZLA5Y6TSVN5NH7Z37U3WD \
  | 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: 24959fe560ee3d3955bd69ff9dfe9bb0e1f65d50e6effeb364463e218f25d8b8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a310dd80ccece5c24d9d25ecaa47dbc16351c054aca9a67be289b4cbffdeadca",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-04-29T05:31:21Z",
    "title_canon_sha256": "6b22407ff1e96d045a35889fd6e2b4fee954265ffe636dc0044f0a47de00b4b8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.14118",
    "kind": "arxiv",
    "version": 4
  }
}