Pith Number

pith:X7TSCXKS

pith:2026:X7TSCXKSHKIS5JOYQ6PKZ3BGMW

not attested not anchored not stored refs pending

Scalable Open-Source Visuotactile Sensor for 6-Axis Contact Wrench Estimation in Tensegrity Robots

Jonathan Mi, Nima Fazeli, Wenzhe Tong, Xiaonan Huang, Xili Yi

arxiv:2607.15633 v1 · 2026-07-17 · 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{X7TSCXKSHKIS5JOYQ6PKZ3BGMW}

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	2026-07-20T01:19:01.332596Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bfe7215d523a912ea5d8879eacec266591ce606f701baeefd2c537641c50508c

Aliases

arxiv: 2607.15633 · arxiv_version: 2607.15633v1 · doi: 10.48550/arxiv.2607.15633 · pith_short_12: X7TSCXKSHKIS · pith_short_16: X7TSCXKSHKIS5JOY · pith_short_8: X7TSCXKS

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/X7TSCXKSHKIS5JOYQ6PKZ3BGMW \
  | 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: bfe7215d523a912ea5d8879eacec266591ce606f701baeefd2c537641c50508c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "94d9a4d666cdf9a4614dfe7470ca8cf39c137ff845cc54c39517b49bb143d4f9",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-17T05:21:06Z",
    "title_canon_sha256": "793bbba0ab55b89ee71f94e2a7b648343b662c60fdbc6f9787813b937173b4f7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.15633",
    "kind": "arxiv",
    "version": 1
  }
}