Pith Number

pith:K6TISXDB

pith:2017:K6TISXDBBUMC6GYNLILP3JMFFP

not attested not anchored not stored refs pending

Effective Footstep Planning Using Homotopy-Class Guidance

Maxim Likhachev, Oren Salzman, Sahit Chintalapudi, Vinitha Ranganeni

arxiv:1712.00531 v3 · 2017-12-02 · 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{K6TISXDBBUMC6GYNLILP3JMFFP}

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	2026-05-17T23:48:53.054223Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

57a6895c610d182f1b0d5a16fda5852bd9aa255554abb8a605ff6d1a4ad3ef52

Aliases

arxiv: 1712.00531 · arxiv_version: 1712.00531v3 · doi: 10.48550/arxiv.1712.00531 · pith_short_12: K6TISXDBBUMC · pith_short_16: K6TISXDBBUMC6GYN · pith_short_8: K6TISXDB

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/K6TISXDBBUMC6GYNLILP3JMFFP \
  | 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: 57a6895c610d182f1b0d5a16fda5852bd9aa255554abb8a605ff6d1a4ad3ef52

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9b7973a1367ac740ad1644e44c7d0634b973c675f5e70472fce25215cdddbfd5",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-12-02T01:06:46Z",
    "title_canon_sha256": "59a8b9c5e5d2a38e9fec3a38de1e3040aea3251ab17e8cd0edb8502c7180a284"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1712.00531",
    "kind": "arxiv",
    "version": 3
  }
}