Pith Number

pith:LAL3XJG4

pith:2026:LAL3XJG4SYOHDLZM4UXQTQSBSE

not attested not anchored not stored refs pending

Affordance2Action: Task-Conditioned Scene-level Affordance Grounding for Real-Time Manipulation

Enze Yuan, Hanqing Wang, Haoran Du, Jingjin Yu, Litao Liu, Michael Liu, Pengfei Yi, Qi Zhang, Ruiding Feng, Wenbo Yu, Yifan Han, Zilin Yuan

arxiv:2606.04172 v1 · 2026-06-02 · 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{LAL3XJG4SYOHDLZM4UXQTQSBSE}

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	2026-06-04T01:08:18.900600Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5817bba4dc961c71af2ce52f09c241910f8d935bd7892647cc7e188444198aeb

Aliases

arxiv: 2606.04172 · arxiv_version: 2606.04172v1 · doi: 10.48550/arxiv.2606.04172 · pith_short_12: LAL3XJG4SYOH · pith_short_16: LAL3XJG4SYOHDLZM · pith_short_8: LAL3XJG4

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/LAL3XJG4SYOHDLZM4UXQTQSBSE \
  | 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: 5817bba4dc961c71af2ce52f09c241910f8d935bd7892647cc7e188444198aeb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "77afb1f930a08c4f808fa030b019e28e48023a1f90c0ad3a7d21747c1493cf3e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-02T19:36:13Z",
    "title_canon_sha256": "c1073b5833d74b7e78e24a2c8d4f425c0e20528c6da63cea0462083073543220"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.04172",
    "kind": "arxiv",
    "version": 1
  }
}