Pith Number

pith:U4H64QPF

pith:2026:U4H64QPFFHIYVFNMDKM2NZ7G5J

not attested not anchored not stored refs pending

RoboHitch: Learning Visual Affordance from Disordered Keypoints for Hitch Knots Tying

Boyang Zhang, Fumin Zhang, Jiahui Zuo

arxiv:2605.24394 v1 · 2026-05-23 · 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{U4H64QPFFHIYVFNMDKM2NZ7G5J}

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	2026-05-26T01:03:37.060093Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c

Aliases

arxiv: 2605.24394 · arxiv_version: 2605.24394v1 · doi: 10.48550/arxiv.2605.24394 · pith_short_12: U4H64QPFFHIY · pith_short_16: U4H64QPFFHIYVFNM · pith_short_8: U4H64QPF

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/U4H64QPFFHIYVFNMDKM2NZ7G5J \
  | 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: a70fee41e529d18a95ac1a99a6e7e6ea704a65142c3d1d0559f1054e12d7d39c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2246c400076def0d898895913129edfcf79b0553d2ca40faaf3af2fb88a9f052",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-23T04:38:58Z",
    "title_canon_sha256": "c6c214ffbe284167724137d72c758b8c2ec69bee6fcc0cd567c4ef35a37102da"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.24394",
    "kind": "arxiv",
    "version": 1
  }
}