Pith Number

pith:Q4IG4BMD

pith:2026:Q4IG4BMDDEZ3BP53BZ5JAO4NZ5

not attested not anchored not stored refs pending

IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation

Chaoqi Liu, Haonan Chen, Jiawei Gao, Peilin Wu, Yilun Du

arxiv:2606.10818 v1 · 2026-06-09 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{Q4IG4BMDDEZ3BP53BZ5JAO4NZ5}

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	2026-06-10T01:10:42.039537Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

87106e05831933b0bfbb0e7a903b8dcf5c640b0a6149be21d0c64ac0670dde03

Aliases

arxiv: 2606.10818 · arxiv_version: 2606.10818v1 · doi: 10.48550/arxiv.2606.10818 · pith_short_12: Q4IG4BMDDEZ3 · pith_short_16: Q4IG4BMDDEZ3BP53 · pith_short_8: Q4IG4BMD

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/Q4IG4BMDDEZ3BP53BZ5JAO4NZ5 \
  | 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: 87106e05831933b0bfbb0e7a903b8dcf5c640b0a6149be21d0c64ac0670dde03

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "832f2abe630c5539ac78e64eb346298c09c715bd230112a14c5085cd59d283a0",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-09T13:00:56Z",
    "title_canon_sha256": "89268d4bd83c750bbbdd23d4fa78c0d5a24250ca0897b2270feaf6f2c5e27b78"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.10818",
    "kind": "arxiv",
    "version": 1
  }
}