Pith Number

pith:JYUS4ZRX

pith:2021:JYUS4ZRXEVXHUD7QK5LEJQRTOQ

not attested not anchored not stored refs pending

Active Extrinsic Contact Sensing: Application to General Peg-in-Hole Insertion

Alberto Rodriguez, Sangwoon Kim

arxiv:2110.03555 v2 · 2021-10-07 · 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{JYUS4ZRXEVXHUD7QK5LEJQRTOQ}

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	2026-07-05T04:08:58.955603Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082

Aliases

arxiv: 2110.03555 · arxiv_version: 2110.03555v2 · doi: 10.48550/arxiv.2110.03555 · pith_short_12: JYUS4ZRXEVXH · pith_short_16: JYUS4ZRXEVXHUD7Q · pith_short_8: JYUS4ZRX

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/JYUS4ZRXEVXHUD7QK5LEJQRTOQ \
  | 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: 4e292e6637256e7a0ff0575644c2337428e50fba1ebdd3b4c9a269900237e082

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "44654fedc7eef7627c1bcc4175d2cd44ce3ad1a749c256882f18aff03cf2db77",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-07T15:22:33Z",
    "title_canon_sha256": "a11fc29d5c6c77eb7b6ed0c6134e75a34352c6467ed18b045655a87525631d96"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.03555",
    "kind": "arxiv",
    "version": 2
  }
}