Pith Number

pith:VZ5HAQOC

pith:2026:VZ5HAQOC4T6TE35VLWZ7VH3CIQ

not attested not anchored not stored refs pending

SCAN-Planner: Spatial Collision-Aware Local Planning for Route-Guided Long-Range Quadruped Navigation

Han Zheng, Ming Yang, Tong Qin, Yiwen Fu, Zhe Chen

arxiv:2606.19555 v1 · 2026-06-17 · 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{VZ5HAQOC4T6TE35VLWZ7VH3CIQ}

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	2026-06-19T16:12:28.820854Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ae7a7041c2e4fd326fb55db3fa9f6244361e9cffe618426dd3cc35a5f7723749

Aliases

arxiv: 2606.19555 · arxiv_version: 2606.19555v1 · doi: 10.48550/arxiv.2606.19555 · pith_short_12: VZ5HAQOC4T6T · pith_short_16: VZ5HAQOC4T6TE35V · pith_short_8: VZ5HAQOC

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/VZ5HAQOC4T6TE35VLWZ7VH3CIQ \
  | 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: ae7a7041c2e4fd326fb55db3fa9f6244361e9cffe618426dd3cc35a5f7723749

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c363c12a9f71c483a590dc0db0174c2d6110c984b4022a1ed8671dc15859ed1a",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-17T19:55:09Z",
    "title_canon_sha256": "9d453ef3817394bf2c82062170aaf47ac0112c16de238c0517d95f1c6302f39a"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.19555",
    "kind": "arxiv",
    "version": 1
  }
}