Pith Number

pith:35T5PG3M

pith:2021:35T5PG3MV7HJZEIRQQCSRKO4SN

not attested not anchored not stored refs pending

A Vision-based Irregular Obstacle Avoidance Framework via Deep Reinforcement Learning

Baocai Yin, Haiyin Piao, Jianchuan Ding, Lingping Gao, Wenxi Liu, Xin Yang, Yuxin Wang

arxiv:2108.06887 v2 · 2021-08-16 · 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{35T5PG3MV7HJZEIRQQCSRKO4SN}

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	2026-07-05T03:07:52.151717Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

df67d79b6cafce9c9111840528a9dc937427a35b59630e30453ff389c37127c2

Aliases

arxiv: 2108.06887 · arxiv_version: 2108.06887v2 · doi: 10.48550/arxiv.2108.06887 · pith_short_12: 35T5PG3MV7HJ · pith_short_16: 35T5PG3MV7HJZEIR · pith_short_8: 35T5PG3M

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/35T5PG3MV7HJZEIRQQCSRKO4SN \
  | 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: df67d79b6cafce9c9111840528a9dc937427a35b59630e30453ff389c37127c2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9480c30fe4d08ec11a8dd93535833e2d80979b671974e75d4b62a5e2ec675b3e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-08-16T04:07:59Z",
    "title_canon_sha256": "fee7af856cc5e9c3e7b61f92fd8fc2fef57e0ebd9bcbd45bce1dc4dd00714b32"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2108.06887",
    "kind": "arxiv",
    "version": 2
  }
}