Pith Number

pith:PBG3H345

pith:2023:PBG3H3456OPGOIP4XCMINHCCY5

not attested not anchored not stored refs pending

ArtPlanner: Robust Legged Robot Navigation in the Field

Lorenz Wellhausen, Marco Hutter

arxiv:2303.01420 v1 · 2023-03-02 · 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{PBG3H3456OPGOIP4XCMINHCCY5}

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.

Cited by

2 papers in Pith

Robot Squid Game: Quadrupedal Locomotion for Traversing Narrow Tunnels

CART: Context-Aware Terrain Adaptation using Temporal Sequence Selection for Legged Robots

Receipt and verification

First computed	2026-07-05T05:55:20.309489Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

784db3ef9df39e6721fcb898869c42c76fdbd01e6649e37fe41318dfc1d5e55c

Aliases

arxiv: 2303.01420 · arxiv_version: 2303.01420v1 · doi: 10.48550/arxiv.2303.01420 · pith_short_12: PBG3H3456OPG · pith_short_16: PBG3H3456OPGOIP4 · pith_short_8: PBG3H345

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/PBG3H3456OPGOIP4XCMINHCCY5 \
  | 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: 784db3ef9df39e6721fcb898869c42c76fdbd01e6649e37fe41318dfc1d5e55c

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c684784e4c073be4a816a64ca22c0228705d510b87bc3702918a429cefa50fd4",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-03-02T17:13:08Z",
    "title_canon_sha256": "9202d9fdd12b6a99c16a4fd128efc6b10421377d6890fbd7bcd439c1edc91843"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2303.01420",
    "kind": "arxiv",
    "version": 1
  }
}