Pith Number

pith:QUG6LDAV

pith:2022:QUG6LDAVG7IFSSHWA4SWOTN4DQ

not attested not anchored not stored refs pending

Self-Supervised Learning for Joint Pushing and Grasping Policies in Highly Cluttered Environments

Cock Heemskerk, Hamidreza Kasaei, Kamal Mokhtar, Yongliang Wang

arxiv:2203.02511 v4 · 2022-03-04 · 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{QUG6LDAVG7IFSSHWA4SWOTN4DQ}

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	2026-07-05T07:56:44.411069Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

850de58c1537d05948f60725674dbc1c3c578128b39c057104d0a1dc173634c6

Aliases

arxiv: 2203.02511 · arxiv_version: 2203.02511v4 · doi: 10.48550/arxiv.2203.02511 · pith_short_12: QUG6LDAVG7IF · pith_short_16: QUG6LDAVG7IFSSHW · pith_short_8: QUG6LDAV

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/QUG6LDAVG7IFSSHWA4SWOTN4DQ \
  | 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: 850de58c1537d05948f60725674dbc1c3c578128b39c057104d0a1dc173634c6

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e544e09d6950f4fa3141672e5e8e1246fcd7304b7d72508b5643240c701c4d51",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-03-04T15:53:04Z",
    "title_canon_sha256": "955f6231d4a7c21aa3f0461266f5bf8af1f649ef5936023c55242ee35b647ef5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2203.02511",
    "kind": "arxiv",
    "version": 4
  }
}