Pith Number

pith:NDCQX7L7

pith:2026:NDCQX7L72WQG4U522IVHSFDZXH

not attested not anchored not stored refs pending

Real-Time Rulebook-Aware Nonlinear MPC for Autonomous Driving with Priority-Biased Tiered Slacks

Benedikt Walter, Chaitanya Shinde, Hadi Hajieghrary, Miguel Hurtado, Paul Schmitt

arxiv:2607.10975 v1 · 2026-07-13 · cs.RO · math.OC

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{NDCQX7L72WQG4U522IVHSFDZXH}

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	2026-07-14T01:21:50.358680Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

68c50bfd7fd5a06e53bad22a791479b9f9124e6701938a346a0e218387fb6989

Aliases

arxiv: 2607.10975 · arxiv_version: 2607.10975v1 · doi: 10.48550/arxiv.2607.10975 · pith_short_12: NDCQX7L72WQG · pith_short_16: NDCQX7L72WQG4U52 · pith_short_8: NDCQX7L7

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/NDCQX7L72WQG4U522IVHSFDZXH \
  | 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: 68c50bfd7fd5a06e53bad22a791479b9f9124e6701938a346a0e218387fb6989

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "00781651aeda1ec2d9f05ab65b288695639207efac2b672bb64bedffd1ba35ee",
    "cross_cats_sorted": [
      "math.OC"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-13T00:40:27Z",
    "title_canon_sha256": "3d489fb98fe6d8c5fe5e4bf308892ae386a7b36b1564990927928fd51cae8d05"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.10975",
    "kind": "arxiv",
    "version": 1
  }
}