Pith Number

pith:VKBLUGJK

pith:2019:VKBLUGJKXVSTRBUCGPGPUK5Y7E

not attested not anchored not stored refs pending

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation

Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake

arxiv:1904.02252 v1 · 2019-04-03 · 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{VKBLUGJKXVSTRBUCGPGPUK5Y7E}

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.

Cited by

1 paper in Pith

TactX: Learning Shared Tactile Representations Across Diverse Sensors

Receipt and verification

First computed	2026-05-17T23:49:24.088260Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

aa82ba192abd6538868233ccfa2bb8f91d13c86a51ce946476c9011e202bfeb7

Aliases

arxiv: 1904.02252 · arxiv_version: 1904.02252v1 · doi: 10.48550/arxiv.1904.02252 · pith_short_12: VKBLUGJKXVST · pith_short_16: VKBLUGJKXVSTRBUC · pith_short_8: VKBLUGJK

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/VKBLUGJKXVSTRBUCGPGPUK5Y7E \
  | 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: aa82ba192abd6538868233ccfa2bb8f91d13c86a51ce946476c9011e202bfeb7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1207adb202d533155efa57dd594e7b17c3152d12e548b18157e77500a44b54e9",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-03T22:05:46Z",
    "title_canon_sha256": "cde87e69b93c46f346faa316ac94f601233f671b82f260313110f7985d1f5382"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.02252",
    "kind": "arxiv",
    "version": 1
  }
}