Pith Number

pith:R6VDZINC

pith:2026:R6VDZINC3Y2NM44TE3X6LEGBNY

not attested not anchored not stored refs pending

Any-ttach: Quick End-effector Swapping Enables Manipulation Dexterity with Simplicity

Cody Andres Alessio-Bunnell, Haoyu Li, Jinzhou Li, Weizhe Ni, Wenjing Pan, Xianyi Cheng

arxiv:2605.30569 v1 · 2026-05-28 · 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{R6VDZINC3Y2NM44TE3X6LEGBNY}

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	2026-06-01T01:03:01.580079Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8faa3ca1a2de34d6739326efe590c16e247a15d18f4d4410c4b0bd67813ef6c3

Aliases

arxiv: 2605.30569 · arxiv_version: 2605.30569v1 · doi: 10.48550/arxiv.2605.30569 · pith_short_12: R6VDZINC3Y2N · pith_short_16: R6VDZINC3Y2NM44T · pith_short_8: R6VDZINC

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/R6VDZINC3Y2NM44TE3X6LEGBNY \
  | 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: 8faa3ca1a2de34d6739326efe590c16e247a15d18f4d4410c4b0bd67813ef6c3

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "72a3a8d74bbc6c7a7acfb56d01f9ece966023915656386bbb39f1a8bcb9e985c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-28T21:00:52Z",
    "title_canon_sha256": "4228dfec1b3c62e77e82b432f04b34b1cd8f85d003e18967793c95c83b228cd1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.30569",
    "kind": "arxiv",
    "version": 1
  }
}