Pith Number

pith:3NZJS6PL

pith:2020:3NZJS6PL5QWE7YXA6WIU3ESW6O

not attested not anchored not stored refs pending

Tactile Object Pose Estimation from the First Touch with Geometric Contact Rendering

Alberto Rodriguez, Bryan Lim, Eric Valls, Maria Bauza, Theo Sechopoulos

arxiv:2012.05205 v1 · 2020-12-09 · cs.RO · cs.CV · cs.LG

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{3NZJS6PL5QWE7YXA6WIU3ESW6O}

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

Blind Dexterous Grasping via Real2Sim2Real Tactile Policy Learning

Receipt and verification

First computed	2026-07-05T01:58:19.880222Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

db729979ebec2c4fe2e0f5914d9256f399a5d36186ead7657ab7b657569c9ae5

Aliases

arxiv: 2012.05205 · arxiv_version: 2012.05205v1 · doi: 10.48550/arxiv.2012.05205 · pith_short_12: 3NZJS6PL5QWE · pith_short_16: 3NZJS6PL5QWE7YXA · pith_short_8: 3NZJS6PL

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/3NZJS6PL5QWE7YXA6WIU3ESW6O \
  | 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: db729979ebec2c4fe2e0f5914d9256f399a5d36186ead7657ab7b657569c9ae5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "102915cf202f9663f2165246ba069463b265d10e8e81d247e64d7abe298f44dd",
    "cross_cats_sorted": [
      "cs.CV",
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-12-09T18:00:35Z",
    "title_canon_sha256": "fb8e446f735f33bef32d2d1376e362df3f184942b31a994d6d2f6c185dd4e635"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2012.05205",
    "kind": "arxiv",
    "version": 1
  }
}