Pith Number

pith:6ARW5XOY

pith:2026:6ARW5XOYTMYYKTFCCKXWGZLDCD

not attested not anchored not stored refs pending

MAGNIFIED: RL Fine-tuning of Multimodal Large Language Models for Motion Planning

Ben Sapp, Drago Anguelov, Justin Fu, Jyh-Jing Hwang, Letian Chen, Runsheng Xu, Yichen Xie, Yiren Lu

arxiv:2606.20641 v1 · 2026-06-02 · cs.RO · cs.AI · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{6ARW5XOYTMYYKTFCCKXWGZLDCD}

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	2026-06-23T00:11:52.305096Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f0236eddd89b31854ca212af63656310de66fafd94edb7f87bdb9a3fd229cf55

Aliases

arxiv: 2606.20641 · arxiv_version: 2606.20641v1 · doi: 10.48550/arxiv.2606.20641 · pith_short_12: 6ARW5XOYTMYY · pith_short_16: 6ARW5XOYTMYYKTFC · pith_short_8: 6ARW5XOY

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/6ARW5XOYTMYYKTFCCKXWGZLDCD \
  | 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: f0236eddd89b31854ca212af63656310de66fafd94edb7f87bdb9a3fd229cf55

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b8c1633d02061616b55ca50f9bba663054d2337b70854941894b3790f28a693f",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-02T16:07:28Z",
    "title_canon_sha256": "a9555eec852d5993e67bf3b6326139d0538aa6bb632a402859b543bbe2e56055"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.20641",
    "kind": "arxiv",
    "version": 1
  }
}