Pith Number

pith:RCN3KPHU

pith:2026:RCN3KPHUQSUJ5M3MSSWNJZG3RU

not attested not anchored not stored refs pending

RAVEN: Reinforcement-Adaptive Visibility-Graph Planning for Robust Humanoid Navigation with Collision-Free MPC

Beom Jun Kim, Dennis W. Hong, Hanzhang Fang, Mehak Singal, Ruochen Hou, Shiqi Wang

arxiv:2607.15701 v1 · 2026-07-17 · 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{RCN3KPHUQSUJ5M3MSSWNJZG3RU}

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	2026-07-20T01:19:05.078002Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

889bb53cf484a89eb36c94acd4e4db8d321cda6e7ab6f8f35b8ac014bebea855

Aliases

arxiv: 2607.15701 · arxiv_version: 2607.15701v1 · doi: 10.48550/arxiv.2607.15701 · pith_short_12: RCN3KPHUQSUJ · pith_short_16: RCN3KPHUQSUJ5M3M · pith_short_8: RCN3KPHU

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/RCN3KPHUQSUJ5M3MSSWNJZG3RU \
  | 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: 889bb53cf484a89eb36c94acd4e4db8d321cda6e7ab6f8f35b8ac014bebea855

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "620a531e90f72988f3f1e5195569879f801ede3df60cf01f192effd7c1057b78",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-17T07:23:54Z",
    "title_canon_sha256": "02fd6944ecc9a2c1f88e4c74ecae32120c9b11ba2cc81000497cfa908f975966"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.15701",
    "kind": "arxiv",
    "version": 1
  }
}