Pith Number

pith:FT6KE5JW

pith:2023:FT6KE5JWOXKQVVTSAWMRXQROJ5

not attested not anchored not stored refs pending

HAS-RRT: RRT-based Motion Planning using Topological Guidance

Ananya Yammanuru, Diane Uwacu, Keerthana Nallamotu, Marco Morales, Nancy M. Amato, Vasu Chalasani

arxiv:2309.10801 v3 · 2023-09-19 · 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{FT6KE5JWOXKQVVTSAWMRXQROJ5}

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	2026-07-05T10:49:03.440947Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2cfca2753675d50ad67205991bc22e4f61e5606decdd0c375dae749779d97296

Aliases

arxiv: 2309.10801 · arxiv_version: 2309.10801v3 · doi: 10.48550/arxiv.2309.10801 · pith_short_12: FT6KE5JWOXKQ · pith_short_16: FT6KE5JWOXKQVVTS · pith_short_8: FT6KE5JW

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/FT6KE5JWOXKQVVTSAWMRXQROJ5 \
  | 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: 2cfca2753675d50ad67205991bc22e4f61e5606decdd0c375dae749779d97296

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "62acc9696a3134e6f7c050e238665fa97073b28127711c79185ea3cfc1e51ed5",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-19T17:46:36Z",
    "title_canon_sha256": "b6961598f6e004ad975150c0b2f6fce7d544fcf4dd794cba50964b92b9ef3b85"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.10801",
    "kind": "arxiv",
    "version": 3
  }
}