Pith Number

pith:5BXJHBJ2

pith:2025:5BXJHBJ2ACLAHRM4WVRYVGJOIU

not attested not anchored not stored refs pending

GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric

Dong Wang, Huchuan Lu, Xiaoxuan Zhang, Yang Liu, Yue Lin

arxiv:2507.16233 v1 · 2025-07-22 · 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{5BXJHBJ2ACLAHRM4WVRYVGJOIU}

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	2026-07-05T11:41:06.030657Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e86e93853a009603c59cb5638a992e453d82f6ae9093c08c1c63c40b86f9db3b

Aliases

arxiv: 2507.16233 · arxiv_version: 2507.16233v1 · doi: 10.48550/arxiv.2507.16233 · pith_short_12: 5BXJHBJ2ACLA · pith_short_16: 5BXJHBJ2ACLAHRM4 · pith_short_8: 5BXJHBJ2

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/5BXJHBJ2ACLAHRM4WVRYVGJOIU \
  | 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: e86e93853a009603c59cb5638a992e453d82f6ae9093c08c1c63c40b86f9db3b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "ccdc28509215bb5ae64ad57031595c8e6a43f891c042cbcfb4997c20386b0b7e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-07-22T05:07:11Z",
    "title_canon_sha256": "67ac1b3695ad85d8ce0c7bc79ee1d5068feefa313530f89c9327d21838b09e0e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2507.16233",
    "kind": "arxiv",
    "version": 1
  }
}