Pith Number

pith:UFDXI6FO

pith:2016:UFDXI6FOEKWSNNXSWHI3WVJSRG

not attested not anchored not stored refs pending

CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision

Andrew Hundt, Chris Paxton, Felix Jonathan, Gregory D. Hager, Kelleher Guerin

arxiv:1611.06145 v1 · 2016-11-18 · 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{UFDXI6FOEKWSNNXSWHI3WVJSRG}

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	2026-05-18T00:57:42.980437Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a1477478ae22ad26b6f2b1d1bb5532898f389c21d2dc2ab475577fb0f8991f24

Aliases

arxiv: 1611.06145 · arxiv_version: 1611.06145v1 · doi: 10.48550/arxiv.1611.06145 · pith_short_12: UFDXI6FOEKWS · pith_short_16: UFDXI6FOEKWSNNXS · pith_short_8: UFDXI6FO

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/UFDXI6FOEKWSNNXSWHI3WVJSRG \
  | 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: a1477478ae22ad26b6f2b1d1bb5532898f389c21d2dc2ab475577fb0f8991f24

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "39a9e397fdaa97a25844506a6457b1589d1b1b0f3dab0559f6fa3471c29dac9f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2016-11-18T16:19:03Z",
    "title_canon_sha256": "3c5b392c8d488faa20fec4f9b48e6fc568bf52f4d8d40f0d3920f4a963b0b535"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1611.06145",
    "kind": "arxiv",
    "version": 1
  }
}