Pith Number

pith:ME4QZS5W

pith:2025:ME4QZS5WLDBIGVV7VMQFNPI75P

not attested not anchored not stored refs pending

Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphs

Cesar Cadena, Jonas Frey, Julian Nubert, Katherine J. Kuchenbecker, Marco Hutter, Shehryar Khattak, Turcan Tuna

arxiv:2504.06479 v1 · 2025-04-08 · cs.RO · cs.CV · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ME4QZS5WLDBIGVV7VMQFNPI75P}

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.

Cited by

1 paper in Pith

Four Simple Proprioceptive Estimators for Legged Robots

Receipt and verification

First computed	2026-07-05T10:46:27.677248Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

61390ccbb658c28356bfab2056bd1febe2581b5ed16182b2c79bc1233b1738ec

Aliases

arxiv: 2504.06479 · arxiv_version: 2504.06479v1 · doi: 10.48550/arxiv.2504.06479 · pith_short_12: ME4QZS5WLDBI · pith_short_16: ME4QZS5WLDBIGVV7 · pith_short_8: ME4QZS5W

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/ME4QZS5WLDBIGVV7VMQFNPI75P \
  | 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: 61390ccbb658c28356bfab2056bd1febe2581b5ed16182b2c79bc1233b1738ec

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "de71b6ef53c86b9bd8c255eebdb668231b26dfc0a24c586966be944917a37820",
    "cross_cats_sorted": [
      "cs.CV",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-04-08T22:54:52Z",
    "title_canon_sha256": "2d571a3cc66d369d374c8b94fa08c2dd269ac7b4c136959a3495f52395792dbb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2504.06479",
    "kind": "arxiv",
    "version": 1
  }
}