Pith Number

pith:LJB5E746

pith:2021:LJB5E746OUQ4KZ7Y4QVXLXBSCC

not attested not anchored not stored refs pending

Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance

Cherie Ho, Jay Patrikar, Rogerio Bonatti, Sebastian Scherer

arxiv:2110.03119 v1 · 2021-10-07 · 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{LJB5E746OUQ4KZ7Y4QVXLXBSCC}

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	2026-07-05T03:20:39.724880Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5a43d27f9e7521c567f8e42b75dc32109ca82c5f126d33649519385f4e6f448c

Aliases

arxiv: 2110.03119 · arxiv_version: 2110.03119v1 · doi: 10.48550/arxiv.2110.03119 · pith_short_12: LJB5E746OUQ4 · pith_short_16: LJB5E746OUQ4KZ7Y · pith_short_8: LJB5E746

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/LJB5E746OUQ4KZ7Y4QVXLXBSCC \
  | 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: 5a43d27f9e7521c567f8e42b75dc32109ca82c5f126d33649519385f4e6f448c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d16861e0f13f2ef21ba70b758379f295be46d29b64346d4c0e924dd8da14440f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-07T00:21:01Z",
    "title_canon_sha256": "675eb92e0e738013d0a9a456c7dec24b2e5e981ff2cf024ca19b60907e2a70ff"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.03119",
    "kind": "arxiv",
    "version": 1
  }
}