Pith Number

pith:XIKYNLII

pith:2026:XIKYNLIIE5DOU3FPSVNYNUHHSY

not attested not anchored not stored refs pending

Waypoints Matter: A Systematic Study for Sampling-Based Trajectory Planning

Antonio Artu\~nedo, Jorge Villagra, Josep M. Barbera

arxiv:2606.06366 v1 · 2026-06-04 · 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{XIKYNLIIE5DOU3FPSVNYNUHHSY}

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	2026-06-05T01:15:42.934289Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ba1586ad082746ea6caf955b86d0e7960f573a30c7b4c36de5f4b8200382df1a

Aliases

arxiv: 2606.06366 · arxiv_version: 2606.06366v1 · doi: 10.48550/arxiv.2606.06366 · pith_short_12: XIKYNLIIE5DO · pith_short_16: XIKYNLIIE5DOU3FP · pith_short_8: XIKYNLII

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/XIKYNLIIE5DOU3FPSVNYNUHHSY \
  | 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: ba1586ad082746ea6caf955b86d0e7960f573a30c7b4c36de5f4b8200382df1a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "95e8628da95a785106dce0500d69d39cd1a1cc1186e4608fbf43d77d67e13f4d",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-04T16:35:30Z",
    "title_canon_sha256": "54805172f5ba42392b0336a76e566e9ec21583bfca3d1f62b65b2d5584f4e7db"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.06366",
    "kind": "arxiv",
    "version": 1
  }
}