Pith Number

pith:ABUFBCOV

pith:2022:ABUFBCOVB4OSLJ5NFKLARSIGG2

not attested not anchored not stored refs pending

Configuration Space Decomposition for Scalable Proxy Collision Checking in Robot Planning and Control

Michael Yip, Mrinal Verghese, Nikhil Das, Yuheng Zhi

arxiv:2201.04314 v3 · 2022-01-12 · 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{ABUFBCOVB4OSLJ5NFKLARSIGG2}

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	2026-07-05T04:30:40.086254Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

00685089d50f1d25a7ad2a9608c90636bdf6324194f7617d9a3d421a48e61cbb

Aliases

arxiv: 2201.04314 · arxiv_version: 2201.04314v3 · doi: 10.48550/arxiv.2201.04314 · pith_short_12: ABUFBCOVB4OS · pith_short_16: ABUFBCOVB4OSLJ5N · pith_short_8: ABUFBCOV

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/ABUFBCOVB4OSLJ5NFKLARSIGG2 \
  | 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: 00685089d50f1d25a7ad2a9608c90636bdf6324194f7617d9a3d421a48e61cbb

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fc293edde63ae3d5b4cb552d1d92e49a9b82f0d416b18408f0f77a4a1df4c8f9",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-01-12T05:38:57Z",
    "title_canon_sha256": "922d8285121fcda4e195d5239ba0112b23df0179da7dca548bf2f7f48c20829e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2201.04314",
    "kind": "arxiv",
    "version": 3
  }
}