Pith Number

pith:ZCESGMDW

pith:2024:ZCESGMDW2UELAOK2G3THRGS7CZ

not attested not anchored not stored refs pending

Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation

Jian Tang, Jinming Li, Junjie Wen, Kun Wu, Ning Liu, Yichen Zhu, Zhiyuan Xu

arxiv:2409.18707 v4 · 2024-09-27 · 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{ZCESGMDW2UELAOK2G3THRGS7CZ}

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

DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control

Receipt and verification

First computed	2026-07-05T10:36:29.189286Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c889233076d508b0395a36e6789a5f166bb20d76927c0e8345fee794b68cf1b7

Aliases

arxiv: 2409.18707 · arxiv_version: 2409.18707v4 · doi: 10.48550/arxiv.2409.18707 · pith_short_12: ZCESGMDW2UEL · pith_short_16: ZCESGMDW2UELAOK2 · pith_short_8: ZCESGMDW

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/ZCESGMDW2UELAOK2G3THRGS7CZ \
  | 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: c889233076d508b0395a36e6789a5f166bb20d76927c0e8345fee794b68cf1b7

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d2aa7b46e63cd5f2ebd9e098551ac26f05901b4c520399ff93f283bb52095e96",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-27T12:50:52Z",
    "title_canon_sha256": "3d2ca5df0b30691b228b7a08a581a4de970a318614c18e2e9dc1ee9c889da4e1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.18707",
    "kind": "arxiv",
    "version": 4
  }
}