Pith Number

pith:PZZXEOSO

pith:2023:PZZXEOSOC7SC5WEBOBPNOYA7K5

not attested not anchored not stored refs pending

Hierarchical Planning and Control for Box Loco-Manipulation

C. Karen Liu, Jonathan Tseng, Michiel van de Panne, Sebastian Starke, Zhaoming Xie

arxiv:2306.09532 v2 · 2023-06-15 · cs.RO · cs.GR

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{PZZXEOSOC7SC5WEBOBPNOYA7K5}

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	2026-07-05T06:29:02.855609Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7e73723a4e17e42ed881705ed7601f574dbaab59be8c6cf8f78deb1c8ca05e01

Aliases

arxiv: 2306.09532 · arxiv_version: 2306.09532v2 · doi: 10.48550/arxiv.2306.09532 · pith_short_12: PZZXEOSOC7SC · pith_short_16: PZZXEOSOC7SC5WEB · pith_short_8: PZZXEOSO

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/PZZXEOSOC7SC5WEBOBPNOYA7K5 \
  | 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: 7e73723a4e17e42ed881705ed7601f574dbaab59be8c6cf8f78deb1c8ca05e01

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9a6863ddbf44562d285d18577e4ed2b85d12da95617f45f66e8cfad5273e406e",
    "cross_cats_sorted": [
      "cs.GR"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-06-15T22:23:27Z",
    "title_canon_sha256": "ebdb5800caa4675adc66f8a101e97dfb8c2f3722dabfb0dc3c2defe267e9eb21"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2306.09532",
    "kind": "arxiv",
    "version": 2
  }
}