Pith Number

pith:PHU3P3UD

pith:2023:PHU3P3UD36XCCKYURFAUXYCJFH

not attested not anchored not stored refs pending

Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload

Kensuke Harada, Kento Nakatsuru, Weiwei Wan

arxiv:2302.13212 v1 · 2023-02-26 · 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{PHU3P3UD36XCCKYURFAUXYCJFH}

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	2026-07-05T05:45:44.302415Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

79e9b7ee83dfae212b1489414be04929ebe97187ab6dcd45321499f9c0f71aa4

Aliases

arxiv: 2302.13212 · arxiv_version: 2302.13212v1 · doi: 10.48550/arxiv.2302.13212 · pith_short_12: PHU3P3UD36XC · pith_short_16: PHU3P3UD36XCCKYU · pith_short_8: PHU3P3UD

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/PHU3P3UD36XCCKYURFAUXYCJFH \
  | 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: 79e9b7ee83dfae212b1489414be04929ebe97187ab6dcd45321499f9c0f71aa4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5e07c661dad0423c6046e6aeb08f19d8a2f37460d48f092e9284a091eab14644",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-02-26T02:36:45Z",
    "title_canon_sha256": "8d7137a8c919ff5f6d6aad3fd7bfb5524ee7c57d9816dcaac8880d7c7b040e6e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2302.13212",
    "kind": "arxiv",
    "version": 1
  }
}