Pith Number

pith:TW6D4F6L

pith:2024:TW6D4F6LZ5MBI4NZDFX6I42ELQ

not attested not anchored not stored refs pending

Barrier-Enhanced Parallel Homotopic Trajectory Optimization for Safety-Critical Autonomous Driving

Jun Ma, Lei Zheng, Michael Yu Wang, Rui Yang

arxiv:2402.10441 v4 · 2024-02-16 · 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{TW6D4F6LZ5MBI4NZDFX6I42ELQ}

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	2026-07-05T11:00:58.452429Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9dbc3e17cbcf581471b9196fe473445c37d76298102254d0094a4ee5f33c8c5f

Aliases

arxiv: 2402.10441 · arxiv_version: 2402.10441v4 · doi: 10.48550/arxiv.2402.10441 · pith_short_12: TW6D4F6LZ5MB · pith_short_16: TW6D4F6LZ5MBI4NZ · pith_short_8: TW6D4F6L

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/TW6D4F6LZ5MBI4NZDFX6I42ELQ \
  | 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: 9dbc3e17cbcf581471b9196fe473445c37d76298102254d0094a4ee5f33c8c5f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cb9c26643dba523d50249bca8f59b7d8679d6712da96478a972598e797eb8dee",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-02-16T04:21:16Z",
    "title_canon_sha256": "8510dae66ca2bfcdd13b3a2f46bb4e512ecaa62467f66c26aa14e6346918ea6e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2402.10441",
    "kind": "arxiv",
    "version": 4
  }
}