Pith. sign in
Pith Number

pith:7H7QFRYP

pith:2025:7H7QFRYP466MGDNF2EC73254S5
not attested not anchored not stored refs pending

Enhanced SIRRT*: A Structure-Aware RRT* for 2D Path Planning with Hybrid Smoothing and Bidirectional Rewiring

Hyejeong Ryu

arxiv:2505.21968 v1 · 2025-05-28 · 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{7H7QFRYP466MGDNF2EC73254S5}

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 2026-07-05T11:11:07.046585Z
Builder pith-number-builder-2026-05-17-v1
Signature Pith Ed25519 (pith-v1-2026-05) · public key
Schema pith-number/v1.0

Canonical hash

f9ff02c70fe7bcc30da5d105fdebbc977586c7014eff85f9dd1dade89044b5e9

Aliases

arxiv: 2505.21968 · arxiv_version: 2505.21968v1 · doi: 10.48550/arxiv.2505.21968 · pith_short_12: 7H7QFRYP466M · pith_short_16: 7H7QFRYP466MGDNF · pith_short_8: 7H7QFRYP
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/7H7QFRYP466MGDNF2EC73254S5 \
  | 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: f9ff02c70fe7bcc30da5d105fdebbc977586c7014eff85f9dd1dade89044b5e9
Canonical record JSON 
{
  "metadata": {
    "abstract_canon_sha256": "7a0121b2ff2e9f7e52c376e0f06b19c9453ed3e8eb2767cc68595139df9a4a50",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-28T04:45:25Z",
    "title_canon_sha256": "631b09e5193333aa6ab82d718acf9c34cda0f8b1bc0d8674cf7e5c831646d629"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.21968",
    "kind": "arxiv",
    "version": 1
  }
}