Pith Number

pith:WCPZ6RER

pith:2024:WCPZ6RERIY6IXD5EZOOS6KZC6Y

not attested not anchored not stored refs pending

Should We Learn Contact-Rich Manipulation Policies from Sampling-Based Planners?

Huaijiang Zhu, Jiuguang Wang, Kuan Fang, Ludovic Righetti, Tao Pang, Tong Zhao, Xinpei Ni

arxiv:2412.09743 v3 · 2024-12-12 · 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{WCPZ6RERIY6IXD5EZOOS6KZC6Y}

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	2026-07-05T10:54:40.388835Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b09f9f4491463c8b8fa4cb9d2f2b22f605dbcf0fb8d70f0170da2895cc198d03

Aliases

arxiv: 2412.09743 · arxiv_version: 2412.09743v3 · doi: 10.48550/arxiv.2412.09743 · pith_short_12: WCPZ6RERIY6I · pith_short_16: WCPZ6RERIY6IXD5E · pith_short_8: WCPZ6RER

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/WCPZ6RERIY6IXD5EZOOS6KZC6Y \
  | 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: b09f9f4491463c8b8fa4cb9d2f2b22f605dbcf0fb8d70f0170da2895cc198d03

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "364aab9a22d3f2c26ce1291fb201d62941192e52141eeb819c0c235bcf6a0b3b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-12T22:19:27Z",
    "title_canon_sha256": "424fa4a5b57b5ce94cf7340be7d1723a3f501608c44f466c468deeafa43958fc"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.09743",
    "kind": "arxiv",
    "version": 3
  }
}