Pith Number

pith:YFRGRMGH

pith:2026:YFRGRMGH7Y4QK5OOMYKKZ4LRSH

not attested not anchored not stored refs pending

Decentralized Pose Graph Riemannian Optimization for Object-based Multi-Robot SLAM

Jinming Xu, Liang Li, Yang Xu, Yan Huang, Yixian Zhao

arxiv:2606.24489 v1 · 2026-06-23 · 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{YFRGRMGH7Y4QK5OOMYKKZ4LRSH}

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	2026-06-24T01:15:32.022359Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c16268b0c7fe390575ce6614acf17191cbab4f15c2483bc56e6ee7ca3f163fec

Aliases

arxiv: 2606.24489 · arxiv_version: 2606.24489v1 · doi: 10.48550/arxiv.2606.24489 · pith_short_12: YFRGRMGH7Y4Q · pith_short_16: YFRGRMGH7Y4QK5OO · pith_short_8: YFRGRMGH

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/YFRGRMGH7Y4QK5OOMYKKZ4LRSH \
  | 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: c16268b0c7fe390575ce6614acf17191cbab4f15c2483bc56e6ee7ca3f163fec

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "cc08f6f3d917426eaf348833f235e3c97ff2bfdb27bbc33225dd768474855a2b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-23T12:21:34Z",
    "title_canon_sha256": "e6c9be10b056dce9345586497687702df0ceb858aaec484735025f50d0d6ecdb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.24489",
    "kind": "arxiv",
    "version": 1
  }
}