Pith Number

pith:QFFW3ATH

pith:2024:QFFW3ATHPAQQA4VCY2RRT7J5WX

not attested not anchored not stored refs pending

AffordDP: Generalizable Diffusion Policy with Transferable Affordance

Jiayuan Gu, Jingya Wang, Jingyi Yu, Kaizhen Zhu, Shijie Wu, Ye Shi, Yihang Zhu, Yunao Huang

arxiv:2412.03142 v2 · 2024-12-04 · cs.RO

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\usepackage{pith}
\pithnumber{QFFW3ATHPAQQA4VCY2RRT7J5WX}

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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.

Cited by

6 papers in Pith

AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

DreamPolicy: A Unified World-model Policy for Scalable Humanoid Locomotion

HeteroGenManip: Generalizable Manipulation For Heterogeneous Object Interactions

Affordance Agent Harness: Verification-Gated Skill Orchestration

Receipt and verification

First computed	2026-07-05T10:35:42.792181Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

814b6d826778210072a2c6a319fd3db5dbf55810f5f0c2243a785bef499879dc

Aliases

arxiv: 2412.03142 · arxiv_version: 2412.03142v2 · doi: 10.48550/arxiv.2412.03142 · pith_short_12: QFFW3ATHPAQQ · pith_short_16: QFFW3ATHPAQQA4VC · pith_short_8: QFFW3ATH

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/QFFW3ATHPAQQA4VCY2RRT7J5WX \
  | 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: 814b6d826778210072a2c6a319fd3db5dbf55810f5f0c2243a785bef499879dc

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5a3beab387ddd024d189f4f7790b3cef09d986677d124f64a37a728126adc76a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-04T09:08:07Z",
    "title_canon_sha256": "d152fc2087ec4981e17698cd06994e164db1272e41a0056b49e400da4c278274"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.03142",
    "kind": "arxiv",
    "version": 2
  }
}