Pith Number

pith:4KJFSSSH

pith:2021:4KJFSSSH4TC6BPXSKTW2D2H2I6

not attested not anchored not stored refs pending

WOLF: A modular estimation framework for robotics based on factor graphs

Andreu Corominas-Murtra, Dinesh Atchuthan, Jeremie Deray, Joan Sola, Joan Vallve, Joaquim Casals, Juan Andrade-Cetto, Mederic Fourmy

arxiv:2110.12919 v4 · 2021-10-25 · 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{4KJFSSSH4TC6BPXSKTW2D2H2I6}

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	2026-07-05T03:57:29.240181Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e292594a47e4c5e0bef254eda1e8fa4799a372eaf27c981c7f31d2420594771e

Aliases

arxiv: 2110.12919 · arxiv_version: 2110.12919v4 · doi: 10.48550/arxiv.2110.12919 · pith_short_12: 4KJFSSSH4TC6 · pith_short_16: 4KJFSSSH4TC6BPXS · pith_short_8: 4KJFSSSH

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/4KJFSSSH4TC6BPXSKTW2D2H2I6 \
  | 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: e292594a47e4c5e0bef254eda1e8fa4799a372eaf27c981c7f31d2420594771e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "abd4ff5fa5a1b337bb2fa8f714758a918fa64dcde6db4ab25c2b13eb5051ae5d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-25T12:58:10Z",
    "title_canon_sha256": "3ad0c0fea19e6a8585a4a1907e861cb6c9709e76ae7a8b690cce68751ef89342"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.12919",
    "kind": "arxiv",
    "version": 4
  }
}