Pith Number

pith:ZP3IQZQP

pith:2025:ZP3IQZQPOXQMAATDO5BEMUOXRB

not attested not anchored not stored refs pending

MTDP: A Modulated Transformer based Diffusion Policy Model

Enmeng Lu, Qianhao Wang, Qian Zhang, Yinqian Sun, Yi Zeng

arxiv:2502.09029 v2 · 2025-02-13 · 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{ZP3IQZQPOXQMAATDO5BEMUOXRB}

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	2026-07-05T10:32:39.261589Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cbf688660f75e0c0026377424651d78851e1a3ee1dcf50714ee9f88e912ece94

Aliases

arxiv: 2502.09029 · arxiv_version: 2502.09029v2 · doi: 10.48550/arxiv.2502.09029 · pith_short_12: ZP3IQZQPOXQM · pith_short_16: ZP3IQZQPOXQMAATD · pith_short_8: ZP3IQZQP

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/ZP3IQZQPOXQMAATDO5BEMUOXRB \
  | 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: cbf688660f75e0c0026377424651d78851e1a3ee1dcf50714ee9f88e912ece94

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a159ca9bfccc1ba1174e890947ad329773a52fcd30c5aa36a2622ecf9548629e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-02-13T07:35:03Z",
    "title_canon_sha256": "74935f8908fb3de40b171af389dfcb0dd17333e63b5d9b4ec9f743dcf8ae60c5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2502.09029",
    "kind": "arxiv",
    "version": 2
  }
}