Pith Number

pith:O7IAQ3K5

pith:2023:O7IAQ3K5RY2VC2H2INUZJPTQ42

not attested not anchored not stored refs pending

Grounded Decoding: Guiding Text Generation with Grounded Models for Embodied Agents

Andy Zeng, Brian Ichter, Danny Driess, Dhruv Shah, Fei Xia, Igor Mordatch, Karol Hausman, Pete Florence, Sergey Levine, Wenlong Huang, Yao Lu

arxiv:2303.00855 v2 · 2023-03-01 · cs.RO · cs.AI · cs.CL · cs.CV · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{O7IAQ3K5RY2VC2H2INUZJPTQ42}

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

4 papers in Pith

Efficient Skill Grounding via Code Refactoring with Small Language Models

VeriGraph: Scene Graphs for Execution Verifiable Robot Planning

LLM-Guided Task- and Affordance-Level Exploration in Reinforcement Learning

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Receipt and verification

First computed	2026-07-05T07:22:49.526036Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

77d0086d5d8e355168fa436994be70e6b569599875e9886a86c4a57a879c306d

Aliases

arxiv: 2303.00855 · arxiv_version: 2303.00855v2 · doi: 10.48550/arxiv.2303.00855 · pith_short_12: O7IAQ3K5RY2V · pith_short_16: O7IAQ3K5RY2VC2H2 · pith_short_8: O7IAQ3K5

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/O7IAQ3K5RY2VC2H2INUZJPTQ42 \
  | 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: 77d0086d5d8e355168fa436994be70e6b569599875e9886a86c4a57a879c306d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f22defb02edef7d90eb95d3dee13bb4b0a9bef5ed6248d0fcb9f57f5da3a0e50",
    "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": "2023-03-01T22:58:50Z",
    "title_canon_sha256": "634ee125f7070013b6072d098107a65f6c949c1ba3297ae5be3d37079cf8efa6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.00855",
    "kind": "arxiv",
    "version": 2
  }
}