Pith Number

pith:RNJD3DRN

pith:2025:RNJD3DRNKFN7Q3KRV3MGILQXF2

not attested not anchored not stored refs pending

Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery

Cristian C. Beltran-Hernandez, Masashi Hamaya, Mimo Shirasaka, Yoshitaka Ushiku

arxiv:2509.17666 v2 · 2025-09-22 · 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{RNJD3DRNKFN7Q3KRV3MGILQXF2}

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	2026-05-20T00:02:55.331299Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8b523d8e2d515bf86d51aed8642e172eb2a7e2455be47e90a5f10c00eec92670

Aliases

arxiv: 2509.17666 · arxiv_version: 2509.17666v2 · doi: 10.48550/arxiv.2509.17666 · pith_short_12: RNJD3DRNKFN7 · pith_short_16: RNJD3DRNKFN7Q3KR · pith_short_8: RNJD3DRN

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/RNJD3DRNKFN7Q3KRV3MGILQXF2 \
  | 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: 8b523d8e2d515bf86d51aed8642e172eb2a7e2455be47e90a5f10c00eec92670

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d19a78239567f37b862c51c5f60c138c4db6b73332751e5b427a7ffb953a3ed5",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-22T12:10:34Z",
    "title_canon_sha256": "b41a7e2c8891fe34d4fa150c24b42ba46bb79b203af94184ee282ed1d4cd3d09"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.17666",
    "kind": "arxiv",
    "version": 2
  }
}