Pith Number

pith:MZ3U4SHO

pith:2024:MZ3U4SHOEXXLWLD6AQDMVNKYF2

not attested not anchored not stored refs pending

RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Danny Driess, Dorsa Sadigh, Laura Smith, Sean Kirmani, Soroush Nasiriany, Ted Xiao, Tianli Ding, Yuke Zhu

arxiv:2411.02704 v1 · 2024-11-05 · cs.RO · cs.AI · cs.CL · cs.CV · cs.LG

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Add to your LaTeX paper

\usepackage{pith}
\pithnumber{MZ3U4SHOEXXLWLD6AQDMVNKYF2}

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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

9 papers in Pith

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models

LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation

Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation

VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy

Receipt and verification

First computed	2026-07-05T09:31:16.621791Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

66774e48ee25eebb2c7e0406cab5582ea36e6c8a08e758f70bd42d1cbf0f53d9

Aliases

arxiv: 2411.02704 · arxiv_version: 2411.02704v1 · doi: 10.48550/arxiv.2411.02704 · pith_short_12: MZ3U4SHOEXXL · pith_short_16: MZ3U4SHOEXXLWLD6 · pith_short_8: MZ3U4SHO

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/MZ3U4SHOEXXLWLD6AQDMVNKYF2 \
  | 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: 66774e48ee25eebb2c7e0406cab5582ea36e6c8a08e758f70bd42d1cbf0f53d9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "251dcb1f037caa386cefb61420aaa40436fc0cf513eb3c3211e454362a847aca",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CL",
      "cs.CV",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-11-05T01:02:51Z",
    "title_canon_sha256": "b9ce30de1914e310196cf0cc8d96e0106ca2b64b6f35dbfe713f80fc6562452c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2411.02704",
    "kind": "arxiv",
    "version": 1
  }
}