Pith Number

pith:Q4R5CSKM

pith:2022:Q4R5CSKM7DSDSQST7HNUGRNLYM

not attested not anchored not stored refs pending

Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned

Adrien Briod, Benoit Casseau, Cesar Cadena, David Wisth, Frank Mascarich, Gabriel Waibel, Huan Nguyen, Konrad Meyer, Kostas Alexis, Lintong Zhang, Lionel Ott, Lorenz Wellhausen, Lukas Bernreiter, Marco Camurri, Marco Hutter, Marco Tranzatto, Mark Mueller, Markus Montenegro, Matias Mattamala, Maurice Fallon, Mihir Dharmadhikari, Mihir Kulkarni, Nikhil Khedekar, Olov Andersson, Paolo De Petris, Patrick Pfreundschuh, Roland Siegwart, Russell Buchanan, Samuel Zimmermann, Shehryar Khattak, Takahiro Miki, Timon Homberger, Tung Dang, Victor Reijgwart, Wayne Tubby, Xiangyu Wu

arxiv:2207.04914 v1 · 2022-07-11 · 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{Q4R5CSKM7DSDSQST7HNUGRNLYM}

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

Contactless Respiratory Monitoring on Heterogeneous Mobile Robots: A Multimodal Edge-Computing Framework

GA3T: A Ground-Aerial Terrain Traversability Dataset for Heterogeneous Robot Teams in Unstructured Environments

Receipt and verification

First computed	2026-07-05T04:39:04.935291Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8723d1494cf8e4394253f9db4345abc330ce46bb002c2a8fabcdc06aa6146e60

Aliases

arxiv: 2207.04914 · arxiv_version: 2207.04914v1 · doi: 10.48550/arxiv.2207.04914 · pith_short_12: Q4R5CSKM7DSD · pith_short_16: Q4R5CSKM7DSDSQST · pith_short_8: Q4R5CSKM

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/Q4R5CSKM7DSDSQST7HNUGRNLYM \
  | 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: 8723d1494cf8e4394253f9db4345abc330ce46bb002c2a8fabcdc06aa6146e60

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "41d167d047371f240524f4f446ebfac40400c5e5d8f7005fe28ed63fdaff12fd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-07-11T14:50:11Z",
    "title_canon_sha256": "363808aa138147c5baad4678707449935e4eeff964bb0c203c2eed0efe0b0554"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2207.04914",
    "kind": "arxiv",
    "version": 1
  }
}