Pith Number

pith:UBK2H5AM

pith:2023:UBK2H5AMCFKKLBFS5YZGPG7MCT

not attested not anchored not stored refs pending

Simultaneous Tactile Estimation and Control of Extrinsic Contact

Alberto Rodriguez, Devesh K. Jha, Diego Romeres, Parag Patre, Sangwoon Kim

arxiv:2303.03385 v1 · 2023-03-06 · 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{UBK2H5AMCFKKLBFS5YZGPG7MCT}

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	2026-07-05T05:48:29.100238Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a055a3f40c1154a584b2ee32679bec14edbf26dd80dfee722c3fe5a9a14adac6

Aliases

arxiv: 2303.03385 · arxiv_version: 2303.03385v1 · doi: 10.48550/arxiv.2303.03385 · pith_short_12: UBK2H5AMCFKK · pith_short_16: UBK2H5AMCFKKLBFS · pith_short_8: UBK2H5AM

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/UBK2H5AMCFKKLBFS5YZGPG7MCT \
  | 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: a055a3f40c1154a584b2ee32679bec14edbf26dd80dfee722c3fe5a9a14adac6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2ea87c681e1fa96d5d82c61eef5def96083b9cb2aad0e5c63aea17daef39cf77",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-06T18:59:20Z",
    "title_canon_sha256": "b7c27d24d4262d6568262acd519bc39e06d6ba386eb4192e3b55debb08213989"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.03385",
    "kind": "arxiv",
    "version": 1
  }
}