Pith Number

pith:4UFV37AL

pith:2026:4UFV37ALRXKTQ5RBEDKNBAO2FT

not attested not anchored not stored refs pending

WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning

Alfred Cueva, Andrew Collins, Davin Doan, Himank Galundia, Huishu Xue, Isaac Legene, Jaehwi Jang, Junjie Sheng, KyoungMok Kim, Ojas Mediratta, Rishita Dhalbisoi, Sarah Sadegh, Thong Nguyen, Ye Zhao, Yifan Wu, Zhaoyuan Gu, Zimeng Chai, Zun Chen

arxiv:2606.13232 v1 · 2026-06-11 · 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{4UFV37ALRXKTQ5RBEDKNBAO2FT}

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	2026-06-12T01:09:48.013907Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e50b5dfc0b8dd538762120d4d081da2ccba1bdb1a261890b5974b5af8b417de3

Aliases

arxiv: 2606.13232 · arxiv_version: 2606.13232v1 · doi: 10.48550/arxiv.2606.13232 · pith_short_12: 4UFV37ALRXKT · pith_short_16: 4UFV37ALRXKTQ5RB · pith_short_8: 4UFV37AL

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/4UFV37ALRXKTQ5RBEDKNBAO2FT \
  | 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: e50b5dfc0b8dd538762120d4d081da2ccba1bdb1a261890b5974b5af8b417de3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f5b83089b5ba5f9cacde4b23b9845df63320811c83e39f893c2d4aa2f05e557b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-11T11:45:58Z",
    "title_canon_sha256": "d69186b768a91250eb7d53cc1f849951c83025be4319bef52031c5b24ad3af44"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.13232",
    "kind": "arxiv",
    "version": 1
  }
}