Pith Number

pith:ZFO6JRLO

pith:2025:ZFO6JRLONCLWZR2LYFZXCGGNG4

not attested not anchored not stored refs pending

LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation

Changhyun Choi, Houjian Yu, Mingen Li, Youngjin Hong

arxiv:2511.02239 v2 · 2025-11-04 · 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{ZFO6JRLONCLWZR2LYFZXCGGNG4}

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	2026-05-25T02:01:09.090118Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c95de4c56e68976cc74bc1737118cd37033d815cf8780f2024136b0c4b5394a4

Aliases

arxiv: 2511.02239 · arxiv_version: 2511.02239v2 · doi: 10.48550/arxiv.2511.02239 · pith_short_12: ZFO6JRLONCLW · pith_short_16: ZFO6JRLONCLWZR2L · pith_short_8: ZFO6JRLO

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/ZFO6JRLONCLWZR2LYFZXCGGNG4 \
  | 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: c95de4c56e68976cc74bc1737118cd37033d815cf8780f2024136b0c4b5394a4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "99cdee27bd9c4e7ff2716c3b298eee3fe6c33c9561155b3df3a3dea236d0e3e4",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-11-04T04:02:51Z",
    "title_canon_sha256": "825e573613dc37e4e77f19ef0dfdb9fe12fd0572663a62088b210174d48b5f01"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2511.02239",
    "kind": "arxiv",
    "version": 2
  }
}