Pith Number

pith:YAWYU5AS

pith:2021:YAWYU5AS6PVSTH5CPPKZORVWBH

not attested not anchored not stored refs pending

Efficient Task Planning for Mobile Manipulation: a Virtual Kinematic Chain Perspective

David Han, Hangxin Liu, Song-Chun Zhu, Weiqi Wang, Yixin Zhu, Zeyu Zhang, Ziyuan Jiao

arxiv:2108.01259 v1 · 2021-08-03 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YAWYU5AS6PVSTH5CPPKZORVWBH}

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	2026-07-05T04:39:19.371757Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c02d8a7412f3eb299fa27bd59746b609d42e8de3a353e3a1bf509c1ecb064619

Aliases

arxiv: 2108.01259 · arxiv_version: 2108.01259v1 · doi: 10.48550/arxiv.2108.01259 · pith_short_12: YAWYU5AS6PVS · pith_short_16: YAWYU5AS6PVSTH5C · pith_short_8: YAWYU5AS

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/YAWYU5AS6PVSTH5CPPKZORVWBH \
  | 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: c02d8a7412f3eb299fa27bd59746b609d42e8de3a353e3a1bf509c1ecb064619

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "31d7b6440c404a3f5f8cf328ea302ff206e2da54717177477954a351a80b914b",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-03T02:49:18Z",
    "title_canon_sha256": "12cccf6b8ff9d38d0035bff3854a8b6061ea45ca950b2075f04294bf7cfce17e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.01259",
    "kind": "arxiv",
    "version": 1
  }
}