Pith Number

pith:YSDD6BMR

pith:2026:YSDD6BMRIEH5GYUYYG25UWGWH6

not attested not anchored not stored refs pending

HEART: Coordination of Heterogeneous Expert Agents for Physically Grounded Robotic Task Planning

Changjoo Nam, Junho Lee, Moonjeong Kang, Nayoung Kim, Seabin Lee, Wonjong Lee

arxiv:2606.25404 v1 · 2026-06-24 · 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{YSDD6BMRIEH5GYUYYG25UWGWH6}

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	2026-06-25T01:18:04.479285Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c4863f0591410fd36298c1b5da58d63f9450344cc55f142cca3eff476a2e583b

Aliases

arxiv: 2606.25404 · arxiv_version: 2606.25404v1 · doi: 10.48550/arxiv.2606.25404 · pith_short_12: YSDD6BMRIEH5 · pith_short_16: YSDD6BMRIEH5GYUY · pith_short_8: YSDD6BMR

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/YSDD6BMRIEH5GYUYYG25UWGWH6 \
  | 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: c4863f0591410fd36298c1b5da58d63f9450344cc55f142cca3eff476a2e583b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "777955d4a07e787022d708a95d76bde180e07110c3734d82f46b9027096053c7",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-24T05:02:37Z",
    "title_canon_sha256": "a8e4f1c53b37879e448c60d439035dcf52009129b1133536ed11f98e703cc72b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.25404",
    "kind": "arxiv",
    "version": 1
  }
}