Pith Number

pith:F4NVMGC3

pith:2020:F4NVMGC3A6CX75LYGKILQVUT4R

not attested not anchored not stored refs pending

TDR-OBCA: A Reliable Planner for Autonomous Driving in Free-Space Environment

Jiaming Tao, Jiangtao Hu, Jinghao Miao, Jinyun Zhou, Qi Luo, Runxin He, Shiyu Song, Shu Jiang, Yu Wang

arxiv:2009.11345 v2 · 2020-09-23 · 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{F4NVMGC3A6CX75LYGKILQVUT4R}

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	2026-07-05T02:18:55.961554Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2f1b56185b07857ff5783290b85693e47e62c0bb12989324a538227bce7a4817

Aliases

arxiv: 2009.11345 · arxiv_version: 2009.11345v2 · doi: 10.48550/arxiv.2009.11345 · pith_short_12: F4NVMGC3A6CX · pith_short_16: F4NVMGC3A6CX75LY · pith_short_8: F4NVMGC3

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/F4NVMGC3A6CX75LYGKILQVUT4R \
  | 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: 2f1b56185b07857ff5783290b85693e47e62c0bb12989324a538227bce7a4817

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "42e35cedde12eeb6d1d5f54ea2038ba279f48b7919fbe6b4934e9b6263096360",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2020-09-23T19:19:35Z",
    "title_canon_sha256": "8b2fb9f16051584a453b4f4e998b1e1e61853c0bbca3e17d50e6f300e59d6039"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2009.11345",
    "kind": "arxiv",
    "version": 2
  }
}