Pith Number

pith:EXONXL5I

pith:2023:EXONXL5IEHRFSYX63CKPSXO5BZ

not attested not anchored not stored refs pending

GRaCE: Balancing Multiple Criteria to Achieve Stable, Collision-Free, and Functional Grasps

Harold Soh, Kelvin Lin, Tasbolat Taunyazov

arxiv:2309.08887 v4 · 2023-09-16 · 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{EXONXL5IEHRFSYX63CKPSXO5BZ}

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

GraspSense: Physically Grounded Grasp and Grip Planning for a Dexterous Robotic Hand via Language-Guided Perception and Force Maps

Receipt and verification

First computed	2026-07-05T08:24:37.534492Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

25dcdbafa821e25962fed894f95ddd0e72faba1353fd9fdd81ec838074976d35

Aliases

arxiv: 2309.08887 · arxiv_version: 2309.08887v4 · doi: 10.48550/arxiv.2309.08887 · pith_short_12: EXONXL5IEHRF · pith_short_16: EXONXL5IEHRFSYX6 · pith_short_8: EXONXL5I

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/EXONXL5IEHRFSYX63CKPSXO5BZ \
  | 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: 25dcdbafa821e25962fed894f95ddd0e72faba1353fd9fdd81ec838074976d35

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "64c421b4a6fa37d56020d050d11dc5a5fd4bcb290a7a5ecbadf3758a9a232226",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-16T05:56:22Z",
    "title_canon_sha256": "569d7af774a6bb7457ef1653ea5c26bf4a0c82d8a109309e5406e613390ae56e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.08887",
    "kind": "arxiv",
    "version": 4
  }
}