Pith Number

pith:NPY3CLZF

pith:2021:NPY3CLZFUA7KSUSISADDWOUFLI

not attested not anchored not stored refs pending

DiffCo: Auto-Differentiable Proxy Collision Detection with Multi-class Labels for Safety-Aware Trajectory Optimization

Michael Yip, Nikhil Das, Yuheng Zhi

arxiv:2102.07413 v2 · 2021-02-15 · cs.RO · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{NPY3CLZFUA7KSUSISADDWOUFLI}

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	2026-07-05T03:58:14.361701Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6bf1b12f25a03ea9524890063b3a855a2202d1ef29c6705accf0f9fc98f3e938

Aliases

arxiv: 2102.07413 · arxiv_version: 2102.07413v2 · doi: 10.48550/arxiv.2102.07413 · pith_short_12: NPY3CLZFUA7K · pith_short_16: NPY3CLZFUA7KSUSI · pith_short_8: NPY3CLZF

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/NPY3CLZFUA7KSUSISADDWOUFLI \
  | 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: 6bf1b12f25a03ea9524890063b3a855a2202d1ef29c6705accf0f9fc98f3e938

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "efe890410167b621559d60790915b2b38ea4ab7744df4070d2fbb3e6c8dc7b60",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-02-15T09:31:26Z",
    "title_canon_sha256": "6e20e12d1212fd840384e8c43f9e0b6d50dedfabc750a5e4a5927dfcf81507ea"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2102.07413",
    "kind": "arxiv",
    "version": 2
  }
}