Pith Number

pith:6QAABOIK

pith:2026:6QAABOIKZXNVUYFWOD3GLMHM34

not attested not anchored not stored refs pending

Verified Task-Space Motion Planning Under Joint-Space Constraints

Changliu Liu, Hanjiang Hu, Yebin Wang

arxiv:2605.22991 v1 · 2026-05-21 · 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{6QAABOIKZXNVUYFWOD3GLMHM34}

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	2026-05-25T02:01:33.478129Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

f40000b90acddb5a60b670f665b0ecdf22e5f78444ef4ee0c4595d6b97a307a5

Aliases

arxiv: 2605.22991 · arxiv_version: 2605.22991v1 · doi: 10.48550/arxiv.2605.22991 · pith_short_12: 6QAABOIKZXNV · pith_short_16: 6QAABOIKZXNVUYFW · pith_short_8: 6QAABOIK

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/6QAABOIKZXNVUYFWOD3GLMHM34 \
  | 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: f40000b90acddb5a60b670f665b0ecdf22e5f78444ef4ee0c4595d6b97a307a5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5951d32613894316cdec639dcb8fc6a6d6adbbb22c9d8932660846d101ca4155",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-21T19:42:29Z",
    "title_canon_sha256": "0be94c3dab1a82e579abd20da05284d87bd55ff216201fd2ad33f9f62c7b95d1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.22991",
    "kind": "arxiv",
    "version": 1
  }
}