Pith Number

pith:4A5TA5FR

pith:2024:4A5TA5FRW55YCRCA3M4FZ3WXWB

not attested not anchored not stored refs pending

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres

Adam Li, Bohao Zhang, Che Chen, Jonathan Michaux, Qingyi Chen, Ram Vasudevan

arxiv:2402.08857 v1 · 2024-02-13 · 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{4A5TA5FRW55YCRCA3M4FZ3WXWB}

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	2026-07-05T07:45:03.741100Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd

Aliases

arxiv: 2402.08857 · arxiv_version: 2402.08857v1 · doi: 10.48550/arxiv.2402.08857 · pith_short_12: 4A5TA5FRW55Y · pith_short_16: 4A5TA5FRW55YCRCA · pith_short_8: 4A5TA5FR

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/4A5TA5FRW55YCRCA3M4FZ3WXWB \
  | 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: e03b3074b1b77b814440db385ceed7b06a464d170643ff5b0cb8c0514848d3fd

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "18504bc137953f5e857e7113962abab5d68f30e09560cd4900349c0ce75bde06",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-13T23:56:04Z",
    "title_canon_sha256": "8bfaf8bba14c4aed02dafbaedc2ebf7d671329c7aa4fd730f6d49809f371e0c5"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.08857",
    "kind": "arxiv",
    "version": 1
  }
}