Pith Number

pith:QW27IOY2

pith:2024:QW27IOY27TBIRSKR4KY6YECY5F

not attested not anchored not stored refs pending

Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization

Benjamin Alt, Claudius Kienle, Darko Katic, Michael Beetz, Rainer J\"akel

arxiv:2409.08678 v2 · 2024-09-13 · 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{QW27IOY27TBIRSKR4KY6YECY5F}

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	2026-07-05T10:13:03.570326Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

85b5f43b1afcc288c951e2b1ec1058e94b70735c8103dcf5fe34e781733a5352

Aliases

arxiv: 2409.08678 · arxiv_version: 2409.08678v2 · doi: 10.48550/arxiv.2409.08678 · pith_short_12: QW27IOY27TBI · pith_short_16: QW27IOY27TBIRSKR · pith_short_8: QW27IOY2

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/QW27IOY27TBIRSKR4KY6YECY5F \
  | 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: 85b5f43b1afcc288c951e2b1ec1058e94b70735c8103dcf5fe34e781733a5352

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "18860c0f0a9c7af42839cdfddaa5b90bd99070e04ea7b5819097872945976134",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-09-13T09:46:41Z",
    "title_canon_sha256": "6ff3367ee1e82206a5522c6ed9507b2c321d9f2619557e39b2ed500f7d893f7e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2409.08678",
    "kind": "arxiv",
    "version": 2
  }
}