Pith Number

pith:2TRYNJ5X

pith:2021:2TRYNJ5XVCGSUEELDWOUM7C3CA

not attested not anchored not stored refs pending

Robust Visual Teach and Repeat for UGVs Using 3D Semantic Maps

KangKang Yin, Mo Chen, Mohammad Mahdavian

arxiv:2109.10445 v3 · 2021-09-21 · 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{2TRYNJ5XVCGSUEELDWOUM7C3CA}

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	2026-07-05T04:34:36.354571Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d4e386a7b7a88d2a108b1d9d467c5b100b910d28200ff174e0a30abe13fca998

Aliases

arxiv: 2109.10445 · arxiv_version: 2109.10445v3 · doi: 10.48550/arxiv.2109.10445 · pith_short_12: 2TRYNJ5XVCGS · pith_short_16: 2TRYNJ5XVCGSUEEL · pith_short_8: 2TRYNJ5X

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/2TRYNJ5XVCGSUEELDWOUM7C3CA \
  | 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: d4e386a7b7a88d2a108b1d9d467c5b100b910d28200ff174e0a30abe13fca998

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "998936335c1c0457a921ca0c0e715845502ed1fae47e6ce126a4a33cc4cefc85",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-09-21T22:16:48Z",
    "title_canon_sha256": "c31fcf60739e47d15dcefa2b190bca86a1bbeb252ead2a5ab2de0982297d5732"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2109.10445",
    "kind": "arxiv",
    "version": 3
  }
}