Pith Number

pith:U2XXKVBD

pith:2023:U2XXKVBDNQBMLHXOCDQ3BJQRDY

not attested not anchored not stored refs pending

Gravity-aware Grasp Generation with Implicit Grasp Mode Selection for Underactuated Hands

Koichi Nishiwaki, Robert Lee, Takuya Ikeda, Thomas Stewart, Tianyi Ko

arxiv:2312.11804 v3 · 2023-12-19 · 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{U2XXKVBDNQBMLHXOCDQ3BJQRDY}

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	2026-07-05T08:54:45.577936Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a6af7554236c02c59eee10e1b0a6111e3a259affd18f8fdd9c76db5adf93e074

Aliases

arxiv: 2312.11804 · arxiv_version: 2312.11804v3 · doi: 10.48550/arxiv.2312.11804 · pith_short_12: U2XXKVBDNQBM · pith_short_16: U2XXKVBDNQBMLHXO · pith_short_8: U2XXKVBD

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/U2XXKVBDNQBMLHXOCDQ3BJQRDY \
  | 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: a6af7554236c02c59eee10e1b0a6111e3a259affd18f8fdd9c76db5adf93e074

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a96e7421208c4b3c928ffb9bdd1bddea297a5a302deb1b95d5cd6864fa6456fb",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-12-19T02:36:35Z",
    "title_canon_sha256": "ff27a71d21b7c86f02f5d977cab73de583948e39581ba3a02f7c3f0ce18b28d9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2312.11804",
    "kind": "arxiv",
    "version": 3
  }
}