Pith Number

pith:NTXBCC2Z

pith:2024:NTXBCC2ZRQUZVSOEXXSFDOWOVG

not attested not anchored not stored refs pending

FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty

Ankur Handa, Bingjie Tang, Bowen Wen, Chad Kessens, Dieter Fox, Fabio Ramos, Iretiayo Akinola, Michael Noseworthy, Nicholas Roy, Yashraj Narang

arxiv:2408.04587 v2 · 2024-08-08 · 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{NTXBCC2ZRQUZVSOEXXSFDOWOVG}

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.

Cited by

3 papers in Pith

CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation

Learning Hybrid-Control Policies for High-Precision In-Contact Manipulation Under Uncertainty

Receipt and verification

First computed	2026-07-05T09:56:21.791957Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6cee110b598c299ac9c4bde451bacea9acef0ee0e03f975409fdecca16b93b7d

Aliases

arxiv: 2408.04587 · arxiv_version: 2408.04587v2 · doi: 10.48550/arxiv.2408.04587 · pith_short_12: NTXBCC2ZRQUZ · pith_short_16: NTXBCC2ZRQUZVSOE · pith_short_8: NTXBCC2Z

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/NTXBCC2ZRQUZVSOEXXSFDOWOVG \
  | 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: 6cee110b598c299ac9c4bde451bacea9acef0ee0e03f975409fdecca16b93b7d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5c8cd863b596621a785151941b2b5cb7edf508c761eef206c63f036b0bb2c8fc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-08-08T16:56:07Z",
    "title_canon_sha256": "9132dcb45d962053ff2775467caf842fd6766324abe51ab35eef0a2f2bd2e6f1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2408.04587",
    "kind": "arxiv",
    "version": 2
  }
}