Pith Number

pith:AQQLHVF6

pith:2020:AQQLHVF6RRKKPE36W7RO7RMUGA

not attested not anchored not stored refs pending

A Subterranean Virtual Cave World for Gazebo based on the DARPA SubT Challenge

Anton Koval, Christoforos Kanellakis, Emil Vidmark, George Nikolakopoulos, Jakub Haluska

arxiv:2004.08452 v2 · 2020-04-17 · 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{AQQLHVF6RRKKPE36W7RO7RMUGA}

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

2 papers in Pith

Explore From Sketch: Accelerating UAV Exploration in Large-scale Environments with Prior Maps

SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation

Receipt and verification

First computed	2026-07-05T00:56:50.025206Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0420b3d4be8c54a7937eb7e2efc5943029e3e518ea4faae816e0b44366edb555

Aliases

arxiv: 2004.08452 · arxiv_version: 2004.08452v2 · doi: 10.48550/arxiv.2004.08452 · pith_short_12: AQQLHVF6RRKK · pith_short_16: AQQLHVF6RRKKPE36 · pith_short_8: AQQLHVF6

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/AQQLHVF6RRKKPE36W7RO7RMUGA \
  | 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: 0420b3d4be8c54a7937eb7e2efc5943029e3e518ea4faae816e0b44366edb555

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5687c0a23efcfbd68bd35efc099f4e9081df34c14c1b6d2ad0085abbfbcdea2b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-04-17T21:04:00Z",
    "title_canon_sha256": "d1f79fe94fac45e1d5207ca69d02df0a4ef8aa47e7250ac43b27cae33198d031"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2004.08452",
    "kind": "arxiv",
    "version": 2
  }
}