Pith Number

pith:B26HBV4O

pith:2021:B26HBV4OYCEIWY7GO3ZDYQH3XH

not attested not anchored not stored refs pending

Belief Space Planning for Mobile Robots with Range Sensors using iLQG

Ke Sun, Vijay Kumar

arxiv:2102.05466 v1 · 2021-02-10 · 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{B26HBV4OYCEIWY7GO3ZDYQH3XH}

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	2026-07-05T02:14:18.966597Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

0ebc70d78ec0888b63e676f23c40fbb9d1d7b206cd8e3d298e47e77ed23d554a

Aliases

arxiv: 2102.05466 · arxiv_version: 2102.05466v1 · doi: 10.48550/arxiv.2102.05466 · pith_short_12: B26HBV4OYCEI · pith_short_16: B26HBV4OYCEIWY7G · pith_short_8: B26HBV4O

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/B26HBV4OYCEIWY7GO3ZDYQH3XH \
  | 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: 0ebc70d78ec0888b63e676f23c40fbb9d1d7b206cd8e3d298e47e77ed23d554a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b419ef9d5433a493fc0730e6a995e41c18960e8d938f89dd69dca6a238fc501c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-10T14:45:16Z",
    "title_canon_sha256": "30711c0419c6a5491e5782033d9bab4faf2b3b8abe5c78036ed62a6ea0315aee"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.05466",
    "kind": "arxiv",
    "version": 1
  }
}