Pith Number

pith:TGUNK5LD

pith:2025:TGUNK5LDM7VGMFQ72RC5YMEU6H

not attested not anchored not stored refs pending

DORA: Object Affordance-Guided Reinforcement Learning for Dexterous Robotic Manipulation

Alois Christian Knoll, Diwen Zheng, Jianwei Zhang, Kaixin Bai, Lei Zhang, Soumya Mondal, Zhaopeng Chen, Zhenshan Bing

arxiv:2505.14819 v1 · 2025-05-20 · 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{TGUNK5LDM7VGMFQ72RC5YMEU6H}

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	2026-07-05T11:06:35.912440Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

99a8d5756367ea66161fd445dc3094f1f4d6098f9dfbcd49a89e7c96d79e7363

Aliases

arxiv: 2505.14819 · arxiv_version: 2505.14819v1 · doi: 10.48550/arxiv.2505.14819 · pith_short_12: TGUNK5LDM7VG · pith_short_16: TGUNK5LDM7VGMFQ7 · pith_short_8: TGUNK5LD

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/TGUNK5LDM7VGMFQ72RC5YMEU6H \
  | 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: 99a8d5756367ea66161fd445dc3094f1f4d6098f9dfbcd49a89e7c96d79e7363

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "64c86468d54878c24f856fa7cbbc5d0aeb2be6e8866230b3dede1c47c226dfbc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-20T18:36:01Z",
    "title_canon_sha256": "c334c6f7a06eef95cf73ae4f68d15241dc54de57ec26e862d15fc5b74d6dc2a5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.14819",
    "kind": "arxiv",
    "version": 1
  }
}