Pith Number

pith:SSI3Y72Z

pith:2026:SSI3Y72ZL55NKOQIWXP6IPQYDK

not attested not anchored not stored refs pending

Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation

Cong Huang, Haoyang Ge, Jiang Zhao, Kai Chen, Pei Chi, Peng Ren, Yukun Shi

arxiv:2607.18016 v1 · 2026-07-20 · 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{SSI3Y72ZL55NKOQIWXP6IPQYDK}

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	2026-07-21T02:22:11.940081Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9491bc7f595f7ad53a08b5dfe43e181a91dcfe05cc1ac23029aaa0a827fc2451

Aliases

arxiv: 2607.18016 · arxiv_version: 2607.18016v1 · doi: 10.48550/arxiv.2607.18016 · pith_short_12: SSI3Y72ZL55N · pith_short_16: SSI3Y72ZL55NKOQI · pith_short_8: SSI3Y72Z

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/SSI3Y72ZL55NKOQIWXP6IPQYDK \
  | 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: 9491bc7f595f7ad53a08b5dfe43e181a91dcfe05cc1ac23029aaa0a827fc2451

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c0f071958b289ece21bb9b79b7a0d371d000de0710522c4593ead90aa09a922b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-20T14:52:46Z",
    "title_canon_sha256": "343d2909bfcb58961f7dd9a72dcf0448d6f1c48a31a461488892ff995648a4a3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.18016",
    "kind": "arxiv",
    "version": 1
  }
}