Pith Number

pith:WP2RZHSE

pith:2025:WP2RZHSEJAVFDK6WTHLRD3LXOQ

not attested not anchored not stored refs pending

UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation

Chengshu Li, Jiajun Wu, Li Fei-Fei, Roy Yuan, Ruohan Zhang, Wenlong Huang, Yihe Tang, Yingke Wang

arxiv:2506.09284 v2 · 2025-06-10 · cs.RO · cs.AI · cs.CV

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{WP2RZHSEJAVFDK6WTHLRD3LXOQ}

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.

Cited by

4 papers in Pith

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation

PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning

FUNCanon: Learning Pose-Aware Action Primitives via Functional Object Canonicalization for Generalizable Robotic Manipulation

AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation

Receipt and verification

First computed	2026-07-05T11:59:15.646034Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b3f51c9e44482a51abd699d711ed77742fc44f97fb156a8f2ab5e9158df72715

Aliases

arxiv: 2506.09284 · arxiv_version: 2506.09284v2 · doi: 10.48550/arxiv.2506.09284 · pith_short_12: WP2RZHSEJAVF · pith_short_16: WP2RZHSEJAVFDK6W · pith_short_8: WP2RZHSE

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/WP2RZHSEJAVFDK6WTHLRD3LXOQ \
  | 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: b3f51c9e44482a51abd699d711ed77742fc44f97fb156a8f2ab5e9158df72715

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "64975cd62e5984df96678449228387638dc06933c57cdbd712dbdf83c0065dc2",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-06-10T22:47:16Z",
    "title_canon_sha256": "64215b8f1c5468c23e063e4cdc030250ace504cb3cb70cc3db6bbb5659a59819"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.09284",
    "kind": "arxiv",
    "version": 2
  }
}