Pith Number

pith:DS5K7P52

pith:2025:DS5K7P52RZD5UCMQKJBAC3WE24

not attested not anchored not stored refs pending

CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments

Julian Nubert, Kostas Alexis, Lukas Bernreiter, Marco Hutter, Olov Andersson, Roland Siegwart, Shehryar Khattak, Timon Homberger

arxiv:2505.06483 v1 · 2025-05-10 · cs.RO · cs.CV

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{DS5K7P52RZD5UCMQKJBAC3WE24}

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	2026-07-05T11:01:10.304379Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

1cbaafbfba8e47da09905242016ec4d70787d116746510dc46908138cca4b5a9

Aliases

arxiv: 2505.06483 · arxiv_version: 2505.06483v1 · doi: 10.48550/arxiv.2505.06483 · pith_short_12: DS5K7P52RZD5 · pith_short_16: DS5K7P52RZD5UCMQ · pith_short_8: DS5K7P52

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/DS5K7P52RZD5UCMQKJBAC3WE24 \
  | 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: 1cbaafbfba8e47da09905242016ec4d70787d116746510dc46908138cca4b5a9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5fc70aae6300ee3d442bc56f94aa7685048945b1e6cee0e940127ee2088bd01f",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-05-10T00:59:31Z",
    "title_canon_sha256": "52c87b9179962f984a251e76ef0fbbb0d96eaf749038072a3b64e47371c64999"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2505.06483",
    "kind": "arxiv",
    "version": 1
  }
}