Pith Number

pith:YYREZ6FT

pith:2026:YYREZ6FTTPWQVUJLMGFHEHZ5YC

not attested not anchored not stored refs pending

Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving

Jia Cai, Neng Zhang, Yaoyi Li, Zehan Zhang, Zhiling Wang

arxiv:2606.11019 v1 · 2026-06-09 · cs.RO · cs.AI

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{YYREZ6FTTPWQVUJLMGFHEHZ5YC}

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	2026-06-10T01:11:03.974824Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c6224cf8b39bed0ad12b618a721f3dc0bc0d692c1fb3a4a083a95878e610bba2

Aliases

arxiv: 2606.11019 · arxiv_version: 2606.11019v1 · doi: 10.48550/arxiv.2606.11019 · pith_short_12: YYREZ6FTTPWQ · pith_short_16: YYREZ6FTTPWQVUJL · pith_short_8: YYREZ6FT

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/YYREZ6FTTPWQVUJLMGFHEHZ5YC \
  | 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: c6224cf8b39bed0ad12b618a721f3dc0bc0d692c1fb3a4a083a95878e610bba2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "df48be4b8c926c861268bef10d332705841b0bcd2b48c689a99717d7e97eca38",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-09T15:56:41Z",
    "title_canon_sha256": "d077be1366177d007d4726dffba46e63c5c3d8d17c78de72d884a04738938dfb"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.11019",
    "kind": "arxiv",
    "version": 1
  }
}