Pith Number

pith:2YMSJRIN

pith:2026:2YMSJRINNXB7XN5G6CVLILO33O

not attested not anchored not stored refs pending

Contrastive Action-Image Pre-training for Visuomotor Control

Anirudh Pai, Baifeng Shi, Boning Shao, Danfei Xu, Dantong Niu, Fabio Galasso, Jing Wang, Jitendra Malik, Konstantinos Kallidromitis, Linxi "Jim" Fan, Roei Herzig, Ruijie Zheng, Stefano Saravalle, Trevor Darrell, Yuke Zhu, Yusuke Kato, Yuvan Sharma, Zekai Wang, Zhuoyang Liu

arxiv:2606.17256 v1 · 2026-06-15 · 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{2YMSJRINNXB7XN5G6CVLILO33O}

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	2026-06-19T16:10:07.121587Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d61924c50d6dc3fbb7a6f0aab42ddbdb92f61b2118d357de8e9782515445cb20

Aliases

arxiv: 2606.17256 · arxiv_version: 2606.17256v1 · doi: 10.48550/arxiv.2606.17256 · pith_short_12: 2YMSJRINNXB7 · pith_short_16: 2YMSJRINNXB7XN5G · pith_short_8: 2YMSJRIN

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/2YMSJRINNXB7XN5G6CVLILO33O \
  | 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: d61924c50d6dc3fbb7a6f0aab42ddbdb92f61b2118d357de8e9782515445cb20

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "49b2631f924bae26b0ed3ea6cf49a1a2410a2862133576e53f4ae92278e0130c",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-15T20:00:20Z",
    "title_canon_sha256": "1885f2d06df4fed92112380433fc52386e75e350cc6eb640af45710914fe02cb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.17256",
    "kind": "arxiv",
    "version": 1
  }
}