Pith Number

pith:TO3G2LFD

pith:2016:TO3G2LFDLQL5BLUOTMKXHUJZO4

not attested not anchored not stored refs pending

Closed-Chain Manipulation of Large Objects by Multi-Arm Robotic Systems

Puttichai Lertkultanon, Quang-Cuong Pham, Xian Zhou

arxiv:1612.01650 v3 · 2016-12-06 · 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{TO3G2LFDLQL5BLUOTMKXHUJZO4}

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	2026-05-18T00:41:58.055846Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9bb66d2ca35c17d0ae8e9b1573d139770325d8bdbf8b13fe310b29919071242d

Aliases

arxiv: 1612.01650 · arxiv_version: 1612.01650v3 · doi: 10.48550/arxiv.1612.01650 · pith_short_12: TO3G2LFDLQL5 · pith_short_16: TO3G2LFDLQL5BLUO · pith_short_8: TO3G2LFD

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/TO3G2LFDLQL5BLUOTMKXHUJZO4 \
  | 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: 9bb66d2ca35c17d0ae8e9b1573d139770325d8bdbf8b13fe310b29919071242d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f9a7aac7073ca095fc1f80816fb065fcda4ec62d3da479257ca9258e8b164169",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-12-06T03:13:07Z",
    "title_canon_sha256": "277453d081fef05bb7561ee0375da31f92d3d713e4cccb17b6a27d82ba90f379"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1612.01650",
    "kind": "arxiv",
    "version": 3
  }
}