Pith Number

pith:RJ7MUURE

pith:2020:RJ7MUUREKLFUTN4L6MTO7Q2LHA

not attested not anchored not stored refs pending

Soft-Bubble grippers for robust and perceptive manipulation

Alex Alspach, Avinash Uttamchandani, Naveen Kuppuswamy, Russ Tedrake, Sam Creasey, Takuya Ikeda

arxiv:2004.03691 v2 · 2020-04-07 · 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{RJ7MUUREKLFUTN4L6MTO7Q2LHA}

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	2026-07-05T00:58:52.341966Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8a7eca522452cb49b78bf326efc34b380ceedcd0b8c3b5baa24513a1343cc705

Aliases

arxiv: 2004.03691 · arxiv_version: 2004.03691v2 · doi: 10.48550/arxiv.2004.03691 · pith_short_12: RJ7MUUREKLFU · pith_short_16: RJ7MUUREKLFUTN4L · pith_short_8: RJ7MUURE

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/RJ7MUUREKLFUTN4L6MTO7Q2LHA \
  | 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: 8a7eca522452cb49b78bf326efc34b380ceedcd0b8c3b5baa24513a1343cc705

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6d3a72ca98e5ee4d60b9374c52d73fd4f78c42def7a47de0525734d4c30841dd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-04-07T20:31:26Z",
    "title_canon_sha256": "95ea5a310ee7adbdd46e5640d9aa9a39cdc8795505bbc1ef45dd26150fa832f7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.03691",
    "kind": "arxiv",
    "version": 2
  }
}