Pith Number

pith:XZXZI4RW

pith:2017:XZXZI4RW756OHZSRDSYY7Y2X6P

not attested not anchored not stored refs pending

Belief State Planning for Autonomously Navigating Urban Intersections

Akansel Cosgun, Maxime Bouton, Mykel J. Kochenderfer

arxiv:1704.04322 v1 · 2017-04-14 · 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{XZXZI4RW756OHZSRDSYY7Y2X6P}

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	2026-05-18T00:46:21.919662Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

be6f947236ff7ce3e6511cb18fe357f3d13896d10eaea3eff9331c092846ce82

Aliases

arxiv: 1704.04322 · arxiv_version: 1704.04322v1 · doi: 10.48550/arxiv.1704.04322 · pith_short_12: XZXZI4RW756O · pith_short_16: XZXZI4RW756OHZSR · pith_short_8: XZXZI4RW

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/XZXZI4RW756OHZSRDSYY7Y2X6P \
  | 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: be6f947236ff7ce3e6511cb18fe357f3d13896d10eaea3eff9331c092846ce82

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "f96112036dc4752761c8a96513b68ed925a8da54a94573d07b1c67bea4f8fceb",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2017-04-14T01:42:03Z",
    "title_canon_sha256": "9fbd9045aa43123043aad7d6dfe716ae6233d76d65adc51cfad7d08a0cf250a2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1704.04322",
    "kind": "arxiv",
    "version": 1
  }
}