Pith Number

pith:UOZHYHYV

pith:2021:UOZHYHYVA5WHGW5W2O32UHEJ2J

not attested not anchored not stored refs pending

A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Keisuke Koyama, Kensuke Harada, Shogo Hayakawa, Weiwei Wan

arxiv:2101.09526 v1 · 2021-01-23 · 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{UOZHYHYVA5WHGW5W2O32UHEJ2J}

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	2026-07-05T02:09:19.657135Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a3b27c1f15076c735bb6d3b7aa1c89d240237b5defa84211f1bca0a87f5f5e01

Aliases

arxiv: 2101.09526 · arxiv_version: 2101.09526v1 · doi: 10.48550/arxiv.2101.09526 · pith_short_12: UOZHYHYVA5WH · pith_short_16: UOZHYHYVA5WHGW5W · pith_short_8: UOZHYHYV

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/UOZHYHYVA5WHGW5W2O32UHEJ2J \
  | 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: a3b27c1f15076c735bb6d3b7aa1c89d240237b5defa84211f1bca0a87f5f5e01

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "163a889938cb3d45401d4a50af85627924768d3470715b969aa19a8d91612c01",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-01-23T15:56:17Z",
    "title_canon_sha256": "607d1f69618314e90a33e9915cea95f3d749e0fe6702df10db1b6dc849e3bc36"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2101.09526",
    "kind": "arxiv",
    "version": 1
  }
}