Pith Number

pith:IZCESOS4

pith:2026:IZCESOS4QJYZRWGBYXLBSRV2WO

not attested not anchored not stored refs pending

Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance

Bo Zhao, Mohamed Elhoseiny, Runze Wang, Tao Lin, Tianwen Qian, Xiangyang Xue, Yanwei Fu, Yu-Gang Jiang, Yu Li, Yuqian Fu

arxiv:2605.24203 v1 · 2026-05-22 · 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{IZCESOS4QJYZRWGBYXLBSRV2WO}

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	2026-05-26T01:02:52.290374Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4644493a5c827198d8c1c5d61946bab3bdfbb852a109c6e2847904c4f0948262

Aliases

arxiv: 2605.24203 · arxiv_version: 2605.24203v1 · doi: 10.48550/arxiv.2605.24203 · pith_short_12: IZCESOS4QJYZ · pith_short_16: IZCESOS4QJYZRWGB · pith_short_8: IZCESOS4

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/IZCESOS4QJYZRWGBYXLBSRV2WO \
  | 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: 4644493a5c827198d8c1c5d61946bab3bdfbb852a109c6e2847904c4f0948262

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9fc2a9e37a1ca9bb94cb1d9a581f9cd0077b289b1ad7a3524e6e158285eeeded",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-22T20:43:47Z",
    "title_canon_sha256": "94531fbe6bb9fe31e9c8788fe5104adb6e95998450db13347ebcea79f6d468af"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.24203",
    "kind": "arxiv",
    "version": 1
  }
}