Pith Number

pith:CZTV3P75

pith:2023:CZTV3P75LDHVTYR46NLMLBDXTI

not attested not anchored not stored refs pending

Learning Observation Models with Incremental Non-Differentiable Graph Optimizers in the Loop for Robotics State Estimation

Michael Kaess, Mohamad Qadri

arxiv:2309.02525 v1 · 2023-09-05 · 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{CZTV3P75LDHVTYR46NLMLBDXTI}

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	2026-07-05T06:48:13.546444Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

16675dbffd58cf59e23cf356c584779a28f96412f0b38c248af839371d5cd411

Aliases

arxiv: 2309.02525 · arxiv_version: 2309.02525v1 · doi: 10.48550/arxiv.2309.02525 · pith_short_12: CZTV3P75LDHV · pith_short_16: CZTV3P75LDHVTYR4 · pith_short_8: CZTV3P75

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/CZTV3P75LDHVTYR46NLMLBDXTI \
  | 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: 16675dbffd58cf59e23cf356c584779a28f96412f0b38c248af839371d5cd411

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8c41a4cdcfc2b6a39cb8895794357ef09d16b26fd1dae764bff4ba93479c7d0d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-05T18:38:02Z",
    "title_canon_sha256": "2dc3b300d92fb4232934e25d86baae609b5ab8da58285c3794070afb568bb38d"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.02525",
    "kind": "arxiv",
    "version": 1
  }
}