Pith Number

pith:P6SWVECO

pith:2024:P6SWVECOL6FAHSSWCVV2LVGLCQ

not attested not anchored not stored refs pending

Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints

Dmitry Berenson, Fan Yang, Rana Soltani Zarrin, Sergio Aguilera Marinovic, Soshi Iba, Thomas Power

arxiv:2408.13229 v2 · 2024-08-23 · 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{P6SWVECOL6FAHSSWCVV2LVGLCQ}

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

1 paper in Pith

CoDex: Learning Compositional Dexterous Functional Manipulation without Demonstrations

Receipt and verification

First computed	2026-07-05T09:46:50.314606Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7fa56a904e5f8a03ca56156ba5d4cb1403695f6628428a7499ead64ec7a6f0ce

Aliases

arxiv: 2408.13229 · arxiv_version: 2408.13229v2 · doi: 10.48550/arxiv.2408.13229 · pith_short_12: P6SWVECOL6FA · pith_short_16: P6SWVECOL6FAHSSW · pith_short_8: P6SWVECO

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/P6SWVECOL6FAHSSWCVV2LVGLCQ \
  | 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: 7fa56a904e5f8a03ca56156ba5d4cb1403695f6628428a7499ead64ec7a6f0ce

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bdb076e0a967e5ea7df1f29901c858c5fa932d0ed646c4cee43d53550edd6e9f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-08-23T17:09:38Z",
    "title_canon_sha256": "e6955dbb47dda6cbeb4ae085e5102e6cfdab325b42550d42a4fc93e39b78d190"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2408.13229",
    "kind": "arxiv",
    "version": 2
  }
}