Pith Number

pith:WFJFRSO7

pith:2026:WFJFRSO7ID3ZME2YNWFGUHKPQN

not attested not anchored not stored refs pending

Manifold-Guided Motion Planning for Tight Assemblies

Dan Halperin, Dror Livnat, Michael M. Bilevich, Michal Kleinbort

arxiv:2607.17898 v1 · 2026-07-20 · 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{WFJFRSO7ID3ZME2YNWFGUHKPQN}

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	2026-07-21T02:22:05.589336Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b15258c9df40f79613586d8a6a1d4f835b60c5d2581c029a5a5f18ac8f7ddb8d

Aliases

arxiv: 2607.17898 · arxiv_version: 2607.17898v1 · doi: 10.48550/arxiv.2607.17898 · pith_short_12: WFJFRSO7ID3Z · pith_short_16: WFJFRSO7ID3ZME2Y · pith_short_8: WFJFRSO7

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/WFJFRSO7ID3ZME2YNWFGUHKPQN \
  | 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: b15258c9df40f79613586d8a6a1d4f835b60c5d2581c029a5a5f18ac8f7ddb8d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c00714d8295a03ce5d462b75f27f296f813439c70347a3979213a035eb4fb4cd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-20T12:46:27Z",
    "title_canon_sha256": "a86dce07e9b8c007e600296d6a866d512147aaf89adfe05f2feb320d95de5365"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.17898",
    "kind": "arxiv",
    "version": 1
  }
}