Pith Number

pith:KVZB5OB2

pith:2026:KVZB5OB24WTES57DHZXVMSJ3TG

not attested not anchored not stored refs pending

Pose-Agnostic Robotic Functional Grasping via Observation-Action Canonicalization

Cole Harrison, Jiankai Sun, Le Qiu, Marco Pavone, Qianzhong Chen, Suning Huang, Yang You, Yao Liu

arxiv:2606.21148 v1 · 2026-06-19 · 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{KVZB5OB24WTES57DHZXVMSJ3TG}

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	2026-06-23T01:12:31.488123Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345

Aliases

arxiv: 2606.21148 · arxiv_version: 2606.21148v1 · doi: 10.48550/arxiv.2606.21148 · pith_short_12: KVZB5OB24WTE · pith_short_16: KVZB5OB24WTES57D · pith_short_8: KVZB5OB2

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/KVZB5OB24WTES57DHZXVMSJ3TG \
  | 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: 55721eb83ae5a64977e33e6f56493b998a2f9d16eca756709cb0e98f27139345

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d9db25a45d456090e6a60c79912e47cc910a2aa12deee1ae823e838ab9baa738",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-19T06:37:43Z",
    "title_canon_sha256": "24cbed1730d17bc023bde99e4129cbd153f92663a5d22e0c0e02dd44b2823db1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.21148",
    "kind": "arxiv",
    "version": 1
  }
}