Pith Number

pith:O6KDW5RS

pith:2023:O6KDW5RSK2JHEETKEYBMAA4TH2

not attested not anchored not stored refs pending

Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learning

Bikun Wang, Chenhao Zhu, Jingchu Liu, Penghong lin, Qian Zhang, Zhichen Wang, Zhipeng Wang, Zhiqiang Zhang

arxiv:2303.13986 v2 · 2023-03-24 · cs.RO · cs.AI

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{O6KDW5RSK2JHEETKEYBMAA4TH2}

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	2026-07-05T06:35:49.653791Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

77943b7632569272126a2602c003933ebf92d52b0dc0cc42c2dd7f102a8d4eb8

Aliases

arxiv: 2303.13986 · arxiv_version: 2303.13986v2 · doi: 10.48550/arxiv.2303.13986 · pith_short_12: O6KDW5RSK2JH · pith_short_16: O6KDW5RSK2JHEETK · pith_short_8: O6KDW5RS

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/O6KDW5RSK2JHEETKEYBMAA4TH2 \
  | 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: 77943b7632569272126a2602c003933ebf92d52b0dc0cc42c2dd7f102a8d4eb8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4ab14794a65cbdecb2009edb9db85e58f21ec7e95ae81e925f3db942227a92cd",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-24T13:18:40Z",
    "title_canon_sha256": "80f72dfdbd9efc2c9dbdcddc7c2551fb3155e65ea4c326b719691addbf4af832"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.13986",
    "kind": "arxiv",
    "version": 2
  }
}