Pith Number

pith:3MH7ZTHP

pith:2022:3MH7ZTHP6N4W4RPMFWVRUNM2ZQ

not attested not anchored not stored refs pending

IPPO: Obstacle Avoidance for Robotic Manipulators in Joint Space via Improved Proximal Policy Optimization

Hamidreza Kasaei, Yongliang Wang

arxiv:2210.00803 v2 · 2022-10-03 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{3MH7ZTHP6N4W4RPMFWVRUNM2ZQ}

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	2026-07-05T05:40:09.026024Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

db0ffccceff3796e45ec2dab1a359acc30e37d78eb5252f009965137f709fd93

Aliases

arxiv: 2210.00803 · arxiv_version: 2210.00803v2 · doi: 10.48550/arxiv.2210.00803 · pith_short_12: 3MH7ZTHP6N4W · pith_short_16: 3MH7ZTHP6N4W4RPM · pith_short_8: 3MH7ZTHP

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/3MH7ZTHP6N4W4RPMFWVRUNM2ZQ \
  | 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: db0ffccceff3796e45ec2dab1a359acc30e37d78eb5252f009965137f709fd93

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "89bab6a81633df262e1349380952694faa0050a2bc035a82135e0742bfe8ac5a",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-10-03T10:21:57Z",
    "title_canon_sha256": "6608e6bf5bee6024ba1c509262cf492b672a89ec51215a19d108b0d7b897954c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2210.00803",
    "kind": "arxiv",
    "version": 2
  }
}