Pith Number

pith:UYD42JRI

pith:2026:UYD42JRIRQEJZRUB72ILCKYGDJ

not attested not anchored not stored refs pending

Disturbance-aware Motion Planning for Over-actuated Underwater Vehicles Exploiting Actuation Redundancy for High-fidelity 3D Reconstruction

Qingyang Liu, Tongqing Xu, Yi Cai, Yuer Gao

arxiv:2607.07139 v1 · 2026-07-08 · 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{UYD42JRIRQEJZRUB72ILCKYGDJ}

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	2026-07-09T01:20:15.577026Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a607cd26288c089cc681fe90b12b061a4926539cc98822ec490e4963e10f5627

Aliases

arxiv: 2607.07139 · arxiv_version: 2607.07139v1 · doi: 10.48550/arxiv.2607.07139 · pith_short_12: UYD42JRIRQEJ · pith_short_16: UYD42JRIRQEJZRUB · pith_short_8: UYD42JRI

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/UYD42JRIRQEJZRUB72ILCKYGDJ \
  | 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: a607cd26288c089cc681fe90b12b061a4926539cc98822ec490e4963e10f5627

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "5f096cc48632815516836cb3e155ea3efa6d1dd277c0889be68a7a1e0abe158c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-08T08:32:15Z",
    "title_canon_sha256": "347b121fa36ec7aaa6352e3a23efc860abf48fe58f71b0f6056983c86626dae9"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.07139",
    "kind": "arxiv",
    "version": 1
  }
}