Pith Number

pith:AW5IXQET

pith:2021:AW5IXQETQSSMY524WQOIBG5CX3

not attested not anchored not stored refs pending

Hybrid Imitative Planning with Geometric and Predictive Costs in Off-road Environments

Ali Agha-Mohammadi, Daniel Shin, David Fan, Dhruv Shah, Henry Leopold, Nicholas Rhinehart, Nitish Dashora, Sergey Levine

arxiv:2111.10948 v1 · 2021-11-22 · 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{AW5IXQETQSSMY524WQOIBG5CX3}

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	2026-07-05T05:04:26.005557Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

05ba8bc09384a4cc775cb41c809ba2bef9064d10aeef35f996a28b546d798afa

Aliases

arxiv: 2111.10948 · arxiv_version: 2111.10948v1 · doi: 10.48550/arxiv.2111.10948 · pith_short_12: AW5IXQETQSSM · pith_short_16: AW5IXQETQSSMY524 · pith_short_8: AW5IXQET

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/AW5IXQETQSSMY524WQOIBG5CX3 \
  | 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: 05ba8bc09384a4cc775cb41c809ba2bef9064d10aeef35f996a28b546d798afa

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "17d483b71f3290157c7065d93aa6edd06dae043fb13b5f0b730723c0de40eeb7",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-11-22T02:15:22Z",
    "title_canon_sha256": "f0b63bf7b5289848b18af432b516492532fdc35be2185717bdcc121d2b9de320"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2111.10948",
    "kind": "arxiv",
    "version": 1
  }
}