Pith Number

pith:6OAZJRET

pith:2026:6OAZJRETLC6UF4K7R7RRKRNQPW

not attested not anchored not stored refs pending

SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation

Chuan Wen, Hau Zheng, Jiankai Sun, Justin Yu, Ken Goldberg, Mac Schwager, Philipp Wu, Pieter Abbeel, Qianzhong Chen, Suning Huang, Yide Shentu

arxiv:2606.10305 v1 · 2026-06-09 · 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{6OAZJRETLC6UF4K7R7RRKRNQPW}

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	2026-06-10T01:10:10.858573Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f38194c49358bd42f15f8fe31545b07d848893f416046fc463029a7679cc3dc4

Aliases

arxiv: 2606.10305 · arxiv_version: 2606.10305v1 · doi: 10.48550/arxiv.2606.10305 · pith_short_12: 6OAZJRETLC6U · pith_short_16: 6OAZJRETLC6UF4K7 · pith_short_8: 6OAZJRET

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/6OAZJRETLC6UF4K7R7RRKRNQPW \
  | 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: f38194c49358bd42f15f8fe31545b07d848893f416046fc463029a7679cc3dc4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "95236a3280522cde2aca4f80c46f032615a6737605ae1460e9b267f42eae72c6",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-09T01:46:23Z",
    "title_canon_sha256": "7006ec12c8b7e79be9e34c97e85ada602c92645d0914deeaac460b5d14bedaa1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.10305",
    "kind": "arxiv",
    "version": 1
  }
}