Pith Number

pith:ICSJC3CS

pith:2026:ICSJC3CSFEQMMS2B6QSI56L465

not attested not anchored not stored refs pending

You Only Touch Once: 6-DoF Object Pose Estimation from Single Tactile Contact

Brian Sheil, Edward Adelson, Guangming Wang, Haonan Chen, Pengfei Ye, Yilun Du, Yixiong Jing, Yuxiang Ma

arxiv:2606.28899 v1 · 2026-06-27 · 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{ICSJC3CSFEQMMS2B6QSI56L465}

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	2026-06-30T01:17:44.321127Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

40a4916c522920c64b41f4248ef97cf74e5d23c4f50a1ad0f03d0b943d94c4ca

Aliases

arxiv: 2606.28899 · arxiv_version: 2606.28899v1 · doi: 10.48550/arxiv.2606.28899 · pith_short_12: ICSJC3CSFEQM · pith_short_16: ICSJC3CSFEQMMS2B · pith_short_8: ICSJC3CS

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/ICSJC3CSFEQMMS2B6QSI56L465 \
  | 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: 40a4916c522920c64b41f4248ef97cf74e5d23c4f50a1ad0f03d0b943d94c4ca

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ae666d57c17a22dad09c1cf8ea093b7b05a11a6fc883263cc79d3c53f327a4f8",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-27T13:12:57Z",
    "title_canon_sha256": "69a6f8cae74ebc9ebb06ffdcd70ebce2402bbebf7c7ed0b4bd05b1e3649f9fde"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.28899",
    "kind": "arxiv",
    "version": 1
  }
}