Pith Number

pith:A5T5WK5L

pith:2021:A5T5WK5LDMXMEGG6M4PJPQK7JV

not attested not anchored not stored refs pending

Robotic Autonomous Trolley Collection with Progressive Perception and Nonlinear Model Predictive Control

Anxing Xiao, Hao Luan, Jiankun Wang, Jieting Zhao, Max Q.-H. Meng, Weinan Chen, Yue Hong, Ziqi Zhao

arxiv:2110.06648 v2 · 2021-10-13 · cs.RO · cs.SY · eess.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{A5T5WK5LDMXMEGG6M4PJPQK7JV}

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	2026-07-05T04:00:58.857032Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0767db2bab1b2ec218de671e97c15f4d5133cbbded96e33d45454ecc119d7321

Aliases

arxiv: 2110.06648 · arxiv_version: 2110.06648v2 · doi: 10.48550/arxiv.2110.06648 · pith_short_12: A5T5WK5LDMXM · pith_short_16: A5T5WK5LDMXMEGG6 · pith_short_8: A5T5WK5L

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/A5T5WK5LDMXMEGG6M4PJPQK7JV \
  | 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: 0767db2bab1b2ec218de671e97c15f4d5133cbbded96e33d45454ecc119d7321

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "532b389038dd3ec9b36d77c143aacd7d86e3a805c04c06eb03d648804454d0dc",
    "cross_cats_sorted": [
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-13T11:20:54Z",
    "title_canon_sha256": "6e6d0427533f5fa60e6013c38936c3f40070de34a876932555fc5c7032fb9782"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.06648",
    "kind": "arxiv",
    "version": 2
  }
}