Pith Number

pith:TKTMFWO6

pith:2019:TKTMFWO6LI3QQWAR7VFRGNEIO3

not attested not anchored not stored refs pending

Robust Navigation of a Soft Growing Robot by Exploiting Contact with the Environment

Allison M. Okamura, Elliot W. Hawkes, Joseph D. Greer, Laura H. Blumenschein, Ron Alterovitz

arxiv:1908.08645 v2 · 2019-08-23 · 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{TKTMFWO6LI3QQWAR7VFRGNEIO3}

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	2026-07-05T02:13:42.254504Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9aa6c2d9de5a37085811fd4b13348876ef5d437bef60fa1c49fcd4cdb3047749

Aliases

arxiv: 1908.08645 · arxiv_version: 1908.08645v2 · doi: 10.48550/arxiv.1908.08645 · pith_short_12: TKTMFWO6LI3Q · pith_short_16: TKTMFWO6LI3QQWAR · pith_short_8: TKTMFWO6

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/TKTMFWO6LI3QQWAR7VFRGNEIO3 \
  | 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: 9aa6c2d9de5a37085811fd4b13348876ef5d437bef60fa1c49fcd4cdb3047749

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9c1e578b6dad9911e5bc65d7872da02b3a29e340e54c0025429f579b7adaa16b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-08-23T03:05:09Z",
    "title_canon_sha256": "e97306e5e81648e2781b20cab58e7a741f521c03969c97dea9138ab9847ec892"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1908.08645",
    "kind": "arxiv",
    "version": 2
  }
}