Pith Number

pith:XZPZU6LL

pith:2024:XZPZU6LLQJKNGXDRJIYPAEVYT6

not attested not anchored not stored refs pending

Supertoroid fitting of objects with holes for robotic grasping and scene generation

Abhijit Makhal, Alba Perez Gracia, Eric Carmona, Joan Badia Torres, Omid Heidari

arxiv:2412.04174 v3 · 2024-12-05 · eess.IV · 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{XZPZU6LLQJKNGXDRJIYPAEVYT6}

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	2026-07-05T09:54:48.869337Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

be5f9a796b8254d35c714a30f012b89fa6a952321ce2a837e59afd2b8a730dd9

Aliases

arxiv: 2412.04174 · arxiv_version: 2412.04174v3 · doi: 10.48550/arxiv.2412.04174 · pith_short_12: XZPZU6LLQJKN · pith_short_16: XZPZU6LLQJKNGXDR · pith_short_8: XZPZU6LL

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/XZPZU6LLQJKNGXDRJIYPAEVYT6 \
  | 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: be5f9a796b8254d35c714a30f012b89fa6a952321ce2a837e59afd2b8a730dd9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "47d4b50bb007c326276edb4d86f75ca3f9ea1197846935c7a35a18b1fd4d423f",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "eess.IV",
    "submitted_at": "2024-12-05T14:11:07Z",
    "title_canon_sha256": "1f8d5d441d477bb4939e62fbfdd17dcf5d543ebf0c3a978f9c311e739944de73"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.04174",
    "kind": "arxiv",
    "version": 3
  }
}