Pith Number

pith:YF56XAX3

pith:2019:YF56XAX324WCCXAMGCKJEEXD2R

not attested not anchored not stored refs pending

ContactGrasp: Functional Multi-finger Grasp Synthesis from Contact

Ankur Handa, Dieter Fox, James Hays, Samarth Brahmbhatt

arxiv:1904.03754 v3 · 2019-04-07 · cs.RO · cs.CV

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YF56XAX324WCCXAMGCKJEEXD2R}

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

Towards Markerless Grasp Capture

Receipt and verification

First computed	2026-05-17T23:39:35.332179Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c17beb82fbd72c215c0c30949212e3d45f703199016b00ea5bb18e8db099c68e

Aliases

arxiv: 1904.03754 · arxiv_version: 1904.03754v3 · doi: 10.48550/arxiv.1904.03754 · pith_short_12: YF56XAX324WC · pith_short_16: YF56XAX324WCCXAM · pith_short_8: YF56XAX3

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/YF56XAX324WCCXAMGCKJEEXD2R \
  | 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: c17beb82fbd72c215c0c30949212e3d45f703199016b00ea5bb18e8db099c68e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "adc22aa451aedcfb42968c3996f2e693394fdf52ec3ef5c5964788ce3e040529",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-07T21:57:17Z",
    "title_canon_sha256": "866dbc4b5ecbc3c65a39e694c2cb1ddc40ad8e1d43fc0cf5cf35407a458772b6"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.03754",
    "kind": "arxiv",
    "version": 3
  }
}