Pith Number

pith:IYY4H4FY

pith:2022:IYY4H4FYWUC2T3RJL6AQCTN7BK

not attested not anchored not stored refs pending

End-to-End Affordance Learning for Robotic Manipulation

Boshi An, Hao Dong, Haoran Geng, Yaodong Yang, Yiran Geng, Yuanpei Chen

arxiv:2209.12941 v1 · 2022-09-26 · cs.RO · cs.AI

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{IYY4H4FYWUC2T3RJL6AQCTN7BK}

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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

5 papers in Pith

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

CoRe: Combined Rewards with Vision-Language Model Feedback for Preference-Aligned Reinforcement Learning

AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

SENIOR: Efficient Query Selection and Preference-Guided Exploration in Preference-based Reinforcement Learning

PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation

Receipt and verification

First computed	2026-07-05T05:01:04.600678Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4631c3f0b8b505a9ee295f81014dbf0a984c7b64bf015ecb8c8f71f5bc8eb36c

Aliases

arxiv: 2209.12941 · arxiv_version: 2209.12941v1 · doi: 10.48550/arxiv.2209.12941 · pith_short_12: IYY4H4FYWUC2 · pith_short_16: IYY4H4FYWUC2T3RJ · pith_short_8: IYY4H4FY

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/IYY4H4FYWUC2T3RJL6AQCTN7BK \
  | 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: 4631c3f0b8b505a9ee295f81014dbf0a984c7b64bf015ecb8c8f71f5bc8eb36c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c83720bdae008a092fff5367db424a6167f6ed10788ba5e6b16d2788b7f0fae1",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-26T18:24:28Z",
    "title_canon_sha256": "12489dc08c3cff3b7ef2c1945ff74867ba4709efbe794cfb4e3743dc206902db"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.12941",
    "kind": "arxiv",
    "version": 1
  }
}