Pith Number

pith:IL3JKBQW

pith:2025:IL3JKBQWBYO2RSRHHYCUMHO756

not attested not anchored not stored refs pending

B4P: Simultaneous Grasp and Motion Planning for Object Placement via Parallelized Bidirectional Forests and Path Repair

Benjamin H. Leebron, Kaiyu Hang, Kejia Ren, Yiting Chen

arxiv:2504.04598 v2 · 2025-04-06 · 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{IL3JKBQWBYO2RSRHHYCUMHO756}

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	2026-07-05T11:42:28.328574Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

42f69506160e1da8ca273e05461ddfefa62461eb2ffacd6ab92aa2b12eba4db6

Aliases

arxiv: 2504.04598 · arxiv_version: 2504.04598v2 · doi: 10.48550/arxiv.2504.04598 · pith_short_12: IL3JKBQWBYO2 · pith_short_16: IL3JKBQWBYO2RSRH · pith_short_8: IL3JKBQW

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/IL3JKBQWBYO2RSRHHYCUMHO756 \
  | 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: 42f69506160e1da8ca273e05461ddfefa62461eb2ffacd6ab92aa2b12eba4db6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "231d5012c65f2bc170462e6484b7a037051b94a9e55ca4373f8183fcde68d9b1",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-06T20:02:17Z",
    "title_canon_sha256": "c732354cb2e251d088d4d65edf70dac9ad194e68e40a418cf72c811048a22411"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.04598",
    "kind": "arxiv",
    "version": 2
  }
}