Pith Number

pith:VZ4MYRIH

pith:2022:VZ4MYRIHPWBOVEVYIZRS5HNZPH

not attested not anchored not stored refs pending

Situational Graphs for Robot Navigation in Structured Indoor Environments

Holger Voos, Hriday Bavle, Javier Civera, Jose Luis Sanchez-Lopez, Muhammad Shaheer

arxiv:2202.12197 v2 · 2022-02-24 · cs.RO · cs.AI

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{VZ4MYRIHPWBOVEVYIZRS5HNZPH}

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	2026-07-05T04:36:35.027703Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ae78cc45077d82ea92b846632e9db979c9362d91a7bf74caeeb91b431d175945

Aliases

arxiv: 2202.12197 · arxiv_version: 2202.12197v2 · doi: 10.48550/arxiv.2202.12197 · pith_short_12: VZ4MYRIHPWBO · pith_short_16: VZ4MYRIHPWBOVEVY · pith_short_8: VZ4MYRIH

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/VZ4MYRIHPWBOVEVYIZRS5HNZPH \
  | 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: ae78cc45077d82ea92b846632e9db979c9362d91a7bf74caeeb91b431d175945

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9e363612ffd21bde470a4059cf1cc6296e7f9c77c4deaadd384e7639870fd5c2",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2022-02-24T16:59:06Z",
    "title_canon_sha256": "9d621a17e0d06a60ad34d1adc73611a0d679a463e6c00a06a475d08c0f7dbd82"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2202.12197",
    "kind": "arxiv",
    "version": 2
  }
}