Pith Number

pith:ZUMLKQJ4

pith:2021:ZUMLKQJ4BK4KOKB2BLTLWRM2NU

not attested not anchored not stored refs pending

Learning Risk-aware Costmaps for Traversability in Challenging Environments

Ali-akbar Agha-mohammadi, David D. Fan, Evangelos A. Theodorou, Sharmita Dey

arxiv:2107.11722 v2 · 2021-07-25 · cs.RO · cs.AI · cs.LG

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZUMLKQJ4BK4KOKB2BLTLWRM2NU}

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	2026-07-05T04:54:15.175623Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cd18b5413c0ab8a7283a0ae6bb459a6d0be856eef8d92d696a84f8a7cfb9a2d8

Aliases

arxiv: 2107.11722 · arxiv_version: 2107.11722v2 · doi: 10.48550/arxiv.2107.11722 · pith_short_12: ZUMLKQJ4BK4K · pith_short_16: ZUMLKQJ4BK4KOKB2 · pith_short_8: ZUMLKQJ4

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/ZUMLKQJ4BK4KOKB2BLTLWRM2NU \
  | 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: cd18b5413c0ab8a7283a0ae6bb459a6d0be856eef8d92d696a84f8a7cfb9a2d8

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1d4d97c63a86486a8d50e9fa88f4191ad0f336bc7e68ecbf919c0ae6a85046d0",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-07-25T04:12:03Z",
    "title_canon_sha256": "d476c1267eda77bd866ae7a6b7f517420d4ca935843d53a62a71ecb9eced7c48"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2107.11722",
    "kind": "arxiv",
    "version": 2
  }
}