Pith Number

pith:IYTVHGLQ

pith:2018:IYTVHGLQNKVBDCKLE6VNZ3FSY3

not attested not anchored not stored refs pending

Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing

Darwin G. Caldwell, Dimitrios Kanoulas, Jinoh Lee, Nikos G. Tsagarakis

arxiv:1802.06392 v1 · 2018-02-18 · 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{IYTVHGLQNKVBDCKLE6VNZ3FSY3}

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	2026-05-18T00:23:03.399807Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

46275399706aaa11894b27aadcecb2c6d038dd5c63199db9a6b6d40231edc403

Aliases

arxiv: 1802.06392 · arxiv_version: 1802.06392v1 · doi: 10.48550/arxiv.1802.06392 · pith_short_12: IYTVHGLQNKVB · pith_short_16: IYTVHGLQNKVBDCKL · pith_short_8: IYTVHGLQ

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/IYTVHGLQNKVBDCKLE6VNZ3FSY3 \
  | 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: 46275399706aaa11894b27aadcecb2c6d038dd5c63199db9a6b6d40231edc403

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1091405b835cf6f1f4129cf1efb9831e9cf3d85f27586519a335e19ea17521e5",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-02-18T15:34:32Z",
    "title_canon_sha256": "0e56fa6cc1941b63cac69613535046449ca53e34ec4f4369420f9afcb1558060"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1802.06392",
    "kind": "arxiv",
    "version": 1
  }
}