Pith Number

pith:7KYAYT3Q

pith:2024:7KYAYT3QTM2FDOLLGELA33FLFM

not attested not anchored not stored refs pending

Task and Motion Planning in Hierarchical 3D Scene Graphs

Aaron Ray, Christopher Bradley, Luca Carlone, Nicholas Roy

arxiv:2403.08094 v2 · 2024-03-12 · 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{7KYAYT3QTM2FDOLLGELA33FLFM}

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.

Cited by

3 papers in Pith

3D Scene Graphs: Open Challenges and Future Directions

SceneGraphGrounder: Zero-Shot 3D Visual Grounding via Structured Scene Graph Matching

Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping

Receipt and verification

First computed	2026-07-05T09:33:08.416147Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fab00c4f709b3451b96b31160decab2b3111b071ec361a970e159c4a45942e50

Aliases

arxiv: 2403.08094 · arxiv_version: 2403.08094v2 · doi: 10.48550/arxiv.2403.08094 · pith_short_12: 7KYAYT3QTM2F · pith_short_16: 7KYAYT3QTM2FDOLL · pith_short_8: 7KYAYT3Q

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/7KYAYT3QTM2FDOLLGELA33FLFM \
  | 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: fab00c4f709b3451b96b31160decab2b3111b071ec361a970e159c4a45942e50

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "de0477cc1b3ea30cf0d7d9366a2bf2854ef13aab9d99c372a39d101b8d332a0f",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-03-12T22:07:01Z",
    "title_canon_sha256": "70f2be4fba14d92551dea4dcde2583e9ee1bf3db12f22943285a647d15125f1e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2403.08094",
    "kind": "arxiv",
    "version": 2
  }
}