Pith Number

pith:EV5EJPCM

pith:2021:EV5EJPCMMBTJFONHPTBVWTC5PS

not attested not anchored not stored refs pending

Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances

Aidan Curtis, Caelan Reed Garrett, Leslie Pack Kaelbling, Tom\'as Lozano-P\'erez, Xiaolin Fang

arxiv:2108.04145 v2 · 2021-08-09 · 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{EV5EJPCMMBTJFONHPTBVWTC5PS}

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	2026-07-05T03:04:28.733271Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

257a44bc4c606692b9a77cc35b4c5d7c937a6bab53790eff257d39596b181ec1

Aliases

arxiv: 2108.04145 · arxiv_version: 2108.04145v2 · doi: 10.48550/arxiv.2108.04145 · pith_short_12: EV5EJPCMMBTJ · pith_short_16: EV5EJPCMMBTJFONH · pith_short_8: EV5EJPCM

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/EV5EJPCMMBTJFONHPTBVWTC5PS \
  | 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: 257a44bc4c606692b9a77cc35b4c5d7c937a6bab53790eff257d39596b181ec1

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b343ac80c254804958fec2cb199b95577aa1c8c207a31a5417c768c6767650d0",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-09T16:13:47Z",
    "title_canon_sha256": "162dc135b4f43bf1a56ae5f65099519d34326397d0cb61786e76cf7ba533edb9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.04145",
    "kind": "arxiv",
    "version": 2
  }
}