Pith Number

pith:TZKADE2V

pith:2022:TZKADE2VJBQ5DPBBQDRKWIZHW2

not attested not anchored not stored refs pending

A Stack-of-Tasks Approach Combined with Behavior Trees: a New Framework for Robot Control

David C\'aceres Dom\'inguez, Erik Schaffernicht, Johannes A. Stork, Marco Iannotta, Todor Stoyanov

arxiv:2209.08619 v1 · 2022-09-18 · 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{TZKADE2VJBQ5DPBBQDRKWIZHW2}

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	2026-07-05T05:37:08.409020Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9e540193554861d1bc2180e2ab2327b6a76ca8c9e1643171bc061f44e4402aad

Aliases

arxiv: 2209.08619 · arxiv_version: 2209.08619v1 · doi: 10.48550/arxiv.2209.08619 · pith_short_12: TZKADE2VJBQ5 · pith_short_16: TZKADE2VJBQ5DPBB · pith_short_8: TZKADE2V

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/TZKADE2VJBQ5DPBBQDRKWIZHW2 \
  | 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: 9e540193554861d1bc2180e2ab2327b6a76ca8c9e1643171bc061f44e4402aad

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a70eddc316eb796681efe4848704f0279ba06b8126e6a5eb6d3463d7a5664c1b",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-09-18T18:02:14Z",
    "title_canon_sha256": "9fcd80b1c6faab03a205d05b4cbf5b9225248298c30a0ea9eb1dd500bf55cd1a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2209.08619",
    "kind": "arxiv",
    "version": 1
  }
}