Pith Number

pith:T5RF7DN6

pith:2021:T5RF7DN64JXAEJJWNH5PKYE2QZ

not attested not anchored not stored refs pending

CaTGrasp: Learning Category-Level Task-Relevant Grasping in Clutter from Simulation

Bowen Wen, Kostas Bekris, Stefan Schaal, Wenzhao Lian

arxiv:2109.09163 v2 · 2021-09-19 · cs.RO · cs.AI · cs.CV · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{T5RF7DN64JXAEJJWNH5PKYE2QZ}

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.

Cited by

1 paper in Pith

Tabletop Object Rearrangement: Structure, Complexity, and Efficient Combinatorial Search-Based Solutions

Receipt and verification

First computed	2026-07-05T04:00:18.152150Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9f625f8dbee26e02253669faf5609a864bf50804c6b60e0746d448016095ddc8

Aliases

arxiv: 2109.09163 · arxiv_version: 2109.09163v2 · doi: 10.48550/arxiv.2109.09163 · pith_short_12: T5RF7DN64JXA · pith_short_16: T5RF7DN64JXAEJJW · pith_short_8: T5RF7DN6

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/T5RF7DN64JXAEJJWNH5PKYE2QZ \
  | 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: 9f625f8dbee26e02253669faf5609a864bf50804c6b60e0746d448016095ddc8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7601c70e3b5821e0bdbd5c1c4ea11a3e0df22e4279eac4df4cf90db92068e9d3",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-19T16:48:33Z",
    "title_canon_sha256": "4733a4af00b812c801f2e5c9ca5090e46ff1dc216ff3ce8a023a86e485c879be"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.09163",
    "kind": "arxiv",
    "version": 2
  }
}