Pith Number

pith:GQF4ZPQP

pith:2021:GQF4ZPQP4DZOBFNLXVBUQFSI43

not attested not anchored not stored refs pending

Single-view robot pose and joint angle estimation via render & compare

Josef Sivic, Justin Carpentier, Mathieu Aubry, Yann Labb\'e

arxiv:2104.09359 v1 · 2021-04-19 · cs.CV · 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{GQF4ZPQP4DZOBFNLXVBUQFSI43}

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	2026-07-05T02:33:12.290283Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

340bccbe0fe0f2e095abbd43481648e6e908a952052e56ba572b7d6b8f4ea554

Aliases

arxiv: 2104.09359 · arxiv_version: 2104.09359v1 · doi: 10.48550/arxiv.2104.09359 · pith_short_12: GQF4ZPQP4DZO · pith_short_16: GQF4ZPQP4DZOBFNL · pith_short_8: GQF4ZPQP

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/GQF4ZPQP4DZOBFNLXVBUQFSI43 \
  | 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: 340bccbe0fe0f2e095abbd43481648e6e908a952052e56ba572b7d6b8f4ea554

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4402a543900c28935ad4ac5a271e4526d6513f6536e25fe84f9f4a208926080e",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2021-04-19T14:48:29Z",
    "title_canon_sha256": "14bbfe25cf8a6d3a0fbba593c7750029109413645a48126e46a7de208ac57ac2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2104.09359",
    "kind": "arxiv",
    "version": 1
  }
}