Pith Number

pith:XSYKDYOD

pith:2018:XSYKDYODBDCN73JNORG2XZART3

not attested not anchored not stored refs pending

Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation

Balakumar Sundaralingam, Tucker Hermans

arxiv:1804.04292 v1 · 2018-04-12 · 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{XSYKDYODBDCN73JNORG2XZART3}

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	2026-05-18T00:18:40.021188Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bcb0a1e1c308c4dfed2d744dabe4119ecb098f0822909042229addec785c8873

Aliases

arxiv: 1804.04292 · arxiv_version: 1804.04292v1 · doi: 10.48550/arxiv.1804.04292 · pith_short_12: XSYKDYODBDCN · pith_short_16: XSYKDYODBDCN73JN · pith_short_8: XSYKDYOD

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/XSYKDYODBDCN73JNORG2XZART3 \
  | 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: bcb0a1e1c308c4dfed2d744dabe4119ecb098f0822909042229addec785c8873

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "35ae4f7123880671a5fccb4bb473d5ca99780f738d2c25540505adaef25d1584",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2018-04-12T02:36:36Z",
    "title_canon_sha256": "786440326d9db5f5d80aadc4f3b0bfa9b49d84195f240e056f89cc9639c0e49e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1804.04292",
    "kind": "arxiv",
    "version": 1
  }
}