Pith Number

pith:F7H5YIRD

pith:2020:F7H5YIRDTVJSOYWFCWM5F7XCBP

not attested not anchored not stored refs pending

Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks

Brijen Thananjeyan, Daniel Seita, Danyal Fer, Jeffrey Ichnowski, Ken Goldberg, Minho Hwang, Samuel Paradis, Thomas Low

arxiv:2003.08520 v4 · 2020-03-19 · 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{F7H5YIRDTVJSOYWFCWM5F7XCBP}

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	2026-07-05T01:23:58.024984Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2fcfdc22239d532762c51599d2fee20bda655842e0c00f971add2f5009c9dec3

Aliases

arxiv: 2003.08520 · arxiv_version: 2003.08520v4 · doi: 10.48550/arxiv.2003.08520 · pith_short_12: F7H5YIRDTVJS · pith_short_16: F7H5YIRDTVJSOYWF · pith_short_8: F7H5YIRD

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/F7H5YIRDTVJSOYWFCWM5F7XCBP \
  | 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: 2fcfdc22239d532762c51599d2fee20bda655842e0c00f971add2f5009c9dec3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "36f5fa11b9f9a525a274e0434ea2c3b2d8e30f3167ded97c1808aac8066fa876",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-03-19T00:24:56Z",
    "title_canon_sha256": "1e221a769167596014f1c0e4470bd6d204fadf4b3ead344b33b6a9b0d7e1ca29"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2003.08520",
    "kind": "arxiv",
    "version": 4
  }
}