Pith Number

pith:H2OLUSFG

pith:2021:H2OLUSFG3XQH3UHGMIOYFOSMB7

not attested not anchored not stored refs pending

Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space

Elie Aljalbout, Maximilian Ulmer, Sami Haddadin, Sascha Schwarz

arxiv:2110.09904 v2 · 2021-10-19 · cs.RO · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{H2OLUSFG3XQH3UHGMIOYFOSMB7}

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

IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

Receipt and verification

First computed	2026-07-05T03:24:14.067972Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

3e9cba48a6dde07dd0e6621d82ba4c0fc0bdeb07877d390ff58dd316baae05e0

Aliases

arxiv: 2110.09904 · arxiv_version: 2110.09904v2 · doi: 10.48550/arxiv.2110.09904 · pith_short_12: H2OLUSFG3XQH · pith_short_16: H2OLUSFG3XQH3UHG · pith_short_8: H2OLUSFG

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/H2OLUSFG3XQH3UHGMIOYFOSMB7 \
  | 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: 3e9cba48a6dde07dd0e6621d82ba4c0fc0bdeb07877d390ff58dd316baae05e0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "15b521099e6be1a899a54620eff866fc98da2225e75d88325528864aa1378766",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-19T12:09:02Z",
    "title_canon_sha256": "df89e91e87017c62865f8a422690ee1c1f3d190faec4736e438437501fd36c50"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.09904",
    "kind": "arxiv",
    "version": 2
  }
}