Pith Number

pith:SGRNFQU4

pith:2024:SGRNFQU4LMGQ3W3F6PRM2KUWAY

not attested not anchored not stored refs pending

Towards Tight Convex Relaxations for Contact-Rich Manipulation

Alexandre Amice, Bernhard Paus Graesdal, Pablo A. Parrilo, Russ Tedrake, Savva Morozov, Shao Yuan Chew Chia, Tobia Marcucci

arxiv:2402.10312 v2 · 2024-02-15 · 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{SGRNFQU4LMGQ3W3F6PRM2KUWAY}

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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

5 papers in Pith

Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics

Search-Based Spatiotemporal and Multi-Robot Motion Planning on Graphs of Space-Time Convex Sets

A Framework for Motion Planning with Temporal Logic Precedence Specifications via Augmented Graphs of Convex Sets

Global Convergence of Sampling-Based Nonconvex Optimization through Diffusion-Style Smoothing

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Receipt and verification

First computed	2026-07-05T08:40:13.635929Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f

Aliases

arxiv: 2402.10312 · arxiv_version: 2402.10312v2 · doi: 10.48550/arxiv.2402.10312 · pith_short_12: SGRNFQU4LMGQ · pith_short_16: SGRNFQU4LMGQ3W3F · pith_short_8: SGRNFQU4

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/SGRNFQU4LMGQ3W3F6PRM2KUWAY \
  | 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: 91a2d2c29c5b0d0ddb65f3e2cd2a9606071fabbae185e582bf7d8530ff77c85f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "30d7d5ef9553c4892650408e8cc9d79e886ebe899959fe118f9ca73607e0eb9b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-15T20:25:28Z",
    "title_canon_sha256": "ce07d56c88f1d68f4ecbae028bf480e7ce3387e9fff53bf74ece9793055c43b7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.10312",
    "kind": "arxiv",
    "version": 2
  }
}