Pith Number

pith:OUCACKLL

pith:2023:OUCACKLLLM47N4DHGOKXNV7NJD

not attested not anchored not stored refs pending

Contact-rich SE(3)-Equivariant Robot Manipulation Task Learning via Geometric Impedance Control

Changhao Wang, Jongeun Choi, Joohwan Seo, Masayoshi Tomizuka, Nikhil Potu Surya Prakash, Roberto Horowitz, Xiang Zhang

arxiv:2308.14984 v2 · 2023-08-29 · cs.RO · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{OUCACKLLLM47N4DHGOKXNV7NJD}

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	2026-07-05T07:27:07.961656Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

750401296b5b39f6f067339576d7ed48fc0c47ed2eea9721e5b597bd19b9d4d2

Aliases

arxiv: 2308.14984 · arxiv_version: 2308.14984v2 · doi: 10.48550/arxiv.2308.14984 · pith_short_12: OUCACKLLLM47 · pith_short_16: OUCACKLLLM47N4DH · pith_short_8: OUCACKLL

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/OUCACKLLLM47N4DHGOKXNV7NJD \
  | 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: 750401296b5b39f6f067339576d7ed48fc0c47ed2eea9721e5b597bd19b9d4d2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c0e014b020262771be0a87866fcd005e6af9627af4af3b2f081ecb91c423e0b9",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-08-29T02:27:57Z",
    "title_canon_sha256": "3c830279636e5df8dca28d2d9989d9cc39917f07369244175b5bbba3d8da2150"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2308.14984",
    "kind": "arxiv",
    "version": 2
  }
}