Pith Number

pith:P7HZJCIO

pith:2017:P7HZJCIOK2UKJF6HNYUA3KQED4

not attested not anchored not stored refs pending

IKBT: solving closed-form Inverse Kinematics with Behavior Tree

Blake Hannaford, Dianmu Zhang

arxiv:1711.05412 v3 · 2017-11-15 · 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{P7HZJCIOK2UKJF6HNYUA3KQED4}

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	2026-05-18T00:28:34.723787Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7fcf94890e56a8a497c76e280daa041f1eff10438e6e7e2de3cc348a5dc4d7e9

Aliases

arxiv: 1711.05412 · arxiv_version: 1711.05412v3 · doi: 10.48550/arxiv.1711.05412 · pith_short_12: P7HZJCIOK2UK · pith_short_16: P7HZJCIOK2UKJF6H · pith_short_8: P7HZJCIO

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/P7HZJCIOK2UKJF6HNYUA3KQED4 \
  | 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: 7fcf94890e56a8a497c76e280daa041f1eff10438e6e7e2de3cc348a5dc4d7e9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4e47c5b239a59a22ec7a20e37db842d077e7cc88eb3dc58ac734be9a7e7f95e9",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-11-15T05:19:18Z",
    "title_canon_sha256": "23c3e22dc6abb39ea8b1bd52332c091c95e8251359a504cb8b490eeea1937a60"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1711.05412",
    "kind": "arxiv",
    "version": 3
  }
}