Pith Number

pith:KHVXGNO6

pith:2026:KHVXGNO6YXNLCZMWM5KCWQRHIP

not attested not anchored not stored refs pending

SURE: Safe Uncertainty-Aware Robot-Environment Interaction using Trajectory Optimization

Aaron M. Johnson, Haizhou Zhao, Majid Khadiv, Xudong Sun, Zhuocheng Zhang

arxiv:2602.06864 v2 · 2026-02-06 · 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{KHVXGNO6YXNLCZMWM5KCWQRHIP}

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	2026-06-23T01:13:03.381244Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

51eb7335dec5dab1659667542b422743ddefe3ffc21372f3a19bcfe7fef6076c

Aliases

arxiv: 2602.06864 · arxiv_version: 2602.06864v2 · doi: 10.48550/arxiv.2602.06864 · pith_short_12: KHVXGNO6YXNL · pith_short_16: KHVXGNO6YXNLCZMW · pith_short_8: KHVXGNO6

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/KHVXGNO6YXNLCZMWM5KCWQRHIP \
  | 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: 51eb7335dec5dab1659667542b422743ddefe3ffc21372f3a19bcfe7fef6076c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "495a5f2013b212ebb9767ce097cf98301c5794e2b19898e74e3c9b9e40e54818",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-02-06T16:50:59Z",
    "title_canon_sha256": "64e78e52d57e8155e6034f893da94942adcd8862ac67142c6500e849ce591699"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2602.06864",
    "kind": "arxiv",
    "version": 2
  }
}