Pith Number

pith:VB7DKQWE

pith:2026:VB7DKQWE6MW7543U7MPQSKSGPN

not attested not anchored not stored refs pending

Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills

Han Ding, Huan Zhao, Jie Pan, Jiexin Zhang, Shuai Ke, Yikun Guo, Zhiao Wei

arxiv:2605.31321 v1 · 2026-05-29 · 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{VB7DKQWE6MW7543U7MPQSKSGPN}

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	2026-06-01T01:04:11.661942Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a87e3542c4f32dfef374fb1f092a467b5ad7df2dd92678e4fd33b6ef6d1a1ce2

Aliases

arxiv: 2605.31321 · arxiv_version: 2605.31321v1 · doi: 10.48550/arxiv.2605.31321 · pith_short_12: VB7DKQWE6MW7 · pith_short_16: VB7DKQWE6MW7543U · pith_short_8: VB7DKQWE

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/VB7DKQWE6MW7543U7MPQSKSGPN \
  | 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: a87e3542c4f32dfef374fb1f092a467b5ad7df2dd92678e4fd33b6ef6d1a1ce2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "56ab29c1c379d155ba34ed4a3123d6777715c6783f21fa97cc232e1ed80f9331",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-29T13:54:21Z",
    "title_canon_sha256": "4e24f0da6b7edb98916ecea6530c865ee9dde03c41e43ab019129a823ff96b60"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.31321",
    "kind": "arxiv",
    "version": 1
  }
}