Pith Number

pith:MIMLDFH6

pith:2026:MIMLDFH6CG4BJYNWWHT6GBYFCK

not attested not anchored not stored refs pending

Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation

Andreas Zell, Boya Zhang, Georg Martius

arxiv:2606.20193 v1 · 2026-06-18 · 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{MIMLDFH6CG4BJYNWWHT6GBYFCK}

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	2026-06-19T16:13:05.265347Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6218b194fe11b814e1b6b1e7e3070512b596d242b5a1dd1f6187d9cf92f39921

Aliases

arxiv: 2606.20193 · arxiv_version: 2606.20193v1 · doi: 10.48550/arxiv.2606.20193 · pith_short_12: MIMLDFH6CG4B · pith_short_16: MIMLDFH6CG4BJYNW · pith_short_8: MIMLDFH6

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/MIMLDFH6CG4BJYNWWHT6GBYFCK \
  | 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: 6218b194fe11b814e1b6b1e7e3070512b596d242b5a1dd1f6187d9cf92f39921

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "42386b3fc9f035963b279f970b1fe189920dbd57270a364213f4d6f3f669e4c6",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-18T13:07:04Z",
    "title_canon_sha256": "319e9817936d309a028202abb0d2c6eb49ce5fde872f979584848bcae78fa0fc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.20193",
    "kind": "arxiv",
    "version": 1
  }
}