Pith Number

pith:IUJB2TVN

pith:2021:IUJB2TVN6XVPL3I62IMVQB3P5Q

not attested not anchored not stored refs pending

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

Cristian C. Beltran-Hernandez, Kensuke Harada, Weiwei Wan, Yan Wang

arxiv:2103.05912 v1 · 2021-03-10 · 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{IUJB2TVN6XVPL3I62IMVQB3P5Q}

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	2026-07-05T02:21:59.478598Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

45121d4eadf5eaf5ed1ed21958076fec1a5f77c70b308d1601484ec804c5523d

Aliases

arxiv: 2103.05912 · arxiv_version: 2103.05912v1 · doi: 10.48550/arxiv.2103.05912 · pith_short_12: IUJB2TVN6XVP · pith_short_16: IUJB2TVN6XVPL3I6 · pith_short_8: IUJB2TVN

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/IUJB2TVN6XVPL3I62IMVQB3P5Q \
  | 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: 45121d4eadf5eaf5ed1ed21958076fec1a5f77c70b308d1601484ec804c5523d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9e2faaa601a27fbd7c670485358a9f83db58be1af54f138312f6ea26ec8e1587",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-10T07:44:28Z",
    "title_canon_sha256": "a28e068ac9d77a117c67369dbccca825f7054300ea72f6a1bdf28a650b814bdd"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.05912",
    "kind": "arxiv",
    "version": 1
  }
}