Pith Number

pith:OJ4HYUYW

pith:2016:OJ4HYUYWDXXXZPRJU7SYCBA6YA

not attested not anchored not stored refs pending

Robot Introspection via Wrench-based Action Grammars

Dingqiao Zhu, Juan Rojas, Kensuke Harada, Shuangqi Luo, Yunlong Du Wenwei Kuang, Zhengjie Huang

arxiv:1609.04947 v1 · 2016-09-16 · 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{OJ4HYUYWDXXXZPRJU7SYCBA6YA}

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	2026-05-18T01:04:31.987697Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

72787c53161def7cbe29a7e581041ec00428adef60d6fbcfcaf85c06dc737cd9

Aliases

arxiv: 1609.04947 · arxiv_version: 1609.04947v1 · doi: 10.48550/arxiv.1609.04947 · pith_short_12: OJ4HYUYWDXXX · pith_short_16: OJ4HYUYWDXXXZPRJ · pith_short_8: OJ4HYUYW

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/OJ4HYUYWDXXXZPRJU7SYCBA6YA \
  | 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: 72787c53161def7cbe29a7e581041ec00428adef60d6fbcfcaf85c06dc737cd9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9a7ac96bc3a656b6a92b4a419a6a059024ded9a38b11692119e4f6920972a514",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-09-16T08:25:39Z",
    "title_canon_sha256": "1b61466df167c9e9645fb4d4e34300f0daeb39e6b96d8e66fca48abdb3ae61c8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1609.04947",
    "kind": "arxiv",
    "version": 1
  }
}