Pith Number

pith:6SJAQTDM

pith:2026:6SJAQTDMA2VRLBJMZ4L5IDVBNY

not attested not anchored not stored refs pending

Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot

Yanran Ding, Yue Qin, Yulun Zhuang, Zelin Shen

arxiv:2606.19233 v1 · 2026-06-17 · 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{6SJAQTDMA2VRLBJMZ4L5IDVBNY}

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	2026-06-19T16:12:08.413634Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f492084c6c06ab15852ccf17d40ea16e369504f5d3b1e111b337ee3c4376cd66

Aliases

arxiv: 2606.19233 · arxiv_version: 2606.19233v1 · doi: 10.48550/arxiv.2606.19233 · pith_short_12: 6SJAQTDMA2VR · pith_short_16: 6SJAQTDMA2VRLBJM · pith_short_8: 6SJAQTDM

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/6SJAQTDMA2VRLBJMZ4L5IDVBNY \
  | 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: f492084c6c06ab15852ccf17d40ea16e369504f5d3b1e111b337ee3c4376cd66

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9b1deb306fbbd1f0514e1a4a7ad7765c4abe74fd828b9cc0d7c34a0b6fd100cf",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-17T16:09:02Z",
    "title_canon_sha256": "4560f26439f7f2273d1e1e7bdf7def43c8f18b2c89ccacff8d11e34ec566dd81"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.19233",
    "kind": "arxiv",
    "version": 1
  }
}