Pith Number

pith:VET6CVOP

pith:2023:VET6CVOP3J22NFF5SQW6LMEBGS

not attested not anchored not stored refs pending

Proprioceptive Invariant Robot State Estimation

Maani Ghaffari, Tingjun Li, Tzu-Yuan Lin, Wenzhe Tong

arxiv:2311.04320 v2 · 2023-11-07 · 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{VET6CVOP3J22NFF5SQW6LMEBGS}

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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.

Cited by

4 papers in Pith

LieIPM: Lie Group Interior Point Method for Direct Trajectory Optimization of Rigid Bodies

Embedding Hybrid Systems into Continuous Latent Vector Fields

CoCo-InEKF: State Estimation with Learned Contact Covariances in Dynamic, Contact-Rich Scenarios

Iterated Invariant EKF for Quadruped Robot Odometry

Receipt and verification

First computed	2026-07-05T07:47:27.265903Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

a927e155cfda75a694bd942de5b08134ae18bdf9643986d0478554720821cc36

Aliases

arxiv: 2311.04320 · arxiv_version: 2311.04320v2 · doi: 10.48550/arxiv.2311.04320 · pith_short_12: VET6CVOP3J22 · pith_short_16: VET6CVOP3J22NFF5 · pith_short_8: VET6CVOP

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/VET6CVOP3J22NFF5SQW6LMEBGS \
  | 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: a927e155cfda75a694bd942de5b08134ae18bdf9643986d0478554720821cc36

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bde97c01db16ff41053283365583c5f2f3070355c2915fada52914b4e2898b8c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-11-07T19:52:47Z",
    "title_canon_sha256": "3b169de57238c1be74fc37d580168411dc54107725a897965d37297a759d1cdb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2311.04320",
    "kind": "arxiv",
    "version": 2
  }
}