Pith Number

pith:YCEDAKW2

pith:2023:YCEDAKW2UTI3CWVPJXL7GZXZWQ

not attested not anchored not stored refs pending

Distributed Behavior Trees for Heterogeneous Robot Teams

Arne Roennau, David Oberacker, Georg Heppner, Niklas Spielbauer, Nils Berg, R\"udiger Dillmann

arxiv:2309.08253 v1 · 2023-09-15 · 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{YCEDAKW2UTI3CWVPJXL7GZXZWQ}

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	2026-07-05T07:40:56.929347Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c088302adaa4d1b15aaf4dd7f366f9b4215570a0d60289946fb3f50eaa8e2048

Aliases

arxiv: 2309.08253 · arxiv_version: 2309.08253v1 · doi: 10.48550/arxiv.2309.08253 · pith_short_12: YCEDAKW2UTI3 · pith_short_16: YCEDAKW2UTI3CWVP · pith_short_8: YCEDAKW2

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/YCEDAKW2UTI3CWVPJXL7GZXZWQ \
  | 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: c088302adaa4d1b15aaf4dd7f366f9b4215570a0d60289946fb3f50eaa8e2048

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "6dfdfdec595b473d1deafa25d527479eee17460c728742d1a70a7ce447fc3d5e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-15T09:01:49Z",
    "title_canon_sha256": "0702fa7de3edf0558175dc1d8535252a8d2c1c514ae24402180501526765b705"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.08253",
    "kind": "arxiv",
    "version": 1
  }
}