Pith Number

pith:XN2OGILH

pith:2025:XN2OGILH37YFMQK3A6KFVBX7EV

not attested not anchored not stored refs pending

Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning

Adam J. Spiers, Qiyang Yan, Xin Zhou, Zihan Ding

arxiv:2503.02738 v1 · 2025-03-04 · 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{XN2OGILH37YFMQK3A6KFVBX7EV}

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

1 paper in Pith

ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes

Receipt and verification

First computed	2026-07-05T10:24:12.881214Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bb74e32167dff056415b07945a86ff25612e3eca5c436d5c4066dbf6ab947cb9

Aliases

arxiv: 2503.02738 · arxiv_version: 2503.02738v1 · doi: 10.48550/arxiv.2503.02738 · pith_short_12: XN2OGILH37YF · pith_short_16: XN2OGILH37YFMQK3 · pith_short_8: XN2OGILH

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/XN2OGILH37YFMQK3A6KFVBX7EV \
  | 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: bb74e32167dff056415b07945a86ff25612e3eca5c436d5c4066dbf6ab947cb9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6c9ff572d8eb2bf8358b101af2fd29ce6b461092b8eae52a3b656fc645689807",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-03-04T15:57:32Z",
    "title_canon_sha256": "2deb0d867ac15e332d8c01d8aa20329d91def58a30f1daf8c967b3c1df3277d1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2503.02738",
    "kind": "arxiv",
    "version": 1
  }
}