Pith Number

pith:2RG2F5TF

pith:2021:2RG2F5TF3K24QSQBNBLW4DGDP4

not attested not anchored not stored refs pending

Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives

Christian Friedrich, Lars Berscheid, Torsten Kr\"oger

arxiv:2103.12810 v1 · 2021-03-23 · 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{2RG2F5TF3K24QSQBNBLW4DGDP4}

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	2026-07-05T09:38:19.384089Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d44da2f665dab5c84a0168576e0cc37f0d0676ad430d49e0c2c9d2c1935f5eeb

Aliases

arxiv: 2103.12810 · arxiv_version: 2103.12810v1 · doi: 10.48550/arxiv.2103.12810 · pith_short_12: 2RG2F5TF3K24 · pith_short_16: 2RG2F5TF3K24QSQB · pith_short_8: 2RG2F5TF

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/2RG2F5TF3K24QSQBNBLW4DGDP4 \
  | 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: d44da2f665dab5c84a0168576e0cc37f0d0676ad430d49e0c2c9d2c1935f5eeb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e12f45ec3148569887dfa3783b5596cd7e0e228e355636c65a8d8a708bd06715",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-03-23T19:47:44Z",
    "title_canon_sha256": "7c6ba2a048c9e66641bc08d1fad0d1fb55c66a3727b5869d85c753031169d442"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2103.12810",
    "kind": "arxiv",
    "version": 1
  }
}