Pith Number

pith:JP4W5QUF

pith:2021:JP4W5QUFQ24B35Z4BY4E6XX24I

not attested not anchored not stored refs pending

CoboGuider: Haptic Potential Fields for Safe Human-Robot Interaction

Dzmitry Tsetserukou, Fikre Hagos, Ighor Uzhinsky, Jonathan Tirado, Miguel Altamirano Cabrera, Oleg Sautenkov, Viktor Rakhmatulin

arxiv:2110.12940 v2 · 2021-10-25 · 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{JP4W5QUFQ24B35Z4BY4E6XX24I}

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	2026-07-05T03:41:27.459391Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

4bf96ec28586b81df73c0e384f5efae20147b274aba7988d72b5c45588c4f50a

Aliases

arxiv: 2110.12940 · arxiv_version: 2110.12940v2 · doi: 10.48550/arxiv.2110.12940 · pith_short_12: JP4W5QUFQ24B · pith_short_16: JP4W5QUFQ24B35Z4 · pith_short_8: JP4W5QUF

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/JP4W5QUFQ24B35Z4BY4E6XX24I \
  | 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: 4bf96ec28586b81df73c0e384f5efae20147b274aba7988d72b5c45588c4f50a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "adaf5430098c3f04b220d313f651d67c9ff89819192124718adaef21900ceb67",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2021-10-25T13:20:33Z",
    "title_canon_sha256": "f6ebd1d25615526d12ed90e814804f4591bf3a420c876e0107c7c062dfe740c2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.12940",
    "kind": "arxiv",
    "version": 2
  }
}