Pith Number

pith:XWDZUGUN

pith:2021:XWDZUGUNNRO46MB6OQAOFTBB4J

not attested not anchored not stored refs pending

Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments

Abdulaziz Shamsah, Jonas Warnke, Seth Hutchinson, Ye Zhao, Zhaoyuan Gu

arxiv:2110.12097 v3 · 2021-10-23 · eess.SY · cs.RO · cs.SY

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XWDZUGUNNRO46MB6OQAOFTBB4J}

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	2026-07-05T05:49:12.405354Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bd879a1a8d6c5dcf303e7400e2cc21e241923e6d97374536b836fc53c064d306

Aliases

arxiv: 2110.12097 · arxiv_version: 2110.12097v3 · doi: 10.48550/arxiv.2110.12097 · pith_short_12: XWDZUGUNNRO4 · pith_short_16: XWDZUGUNNRO46MB6 · pith_short_8: XWDZUGUN

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/XWDZUGUNNRO46MB6OQAOFTBB4J \
  | 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: bd879a1a8d6c5dcf303e7400e2cc21e241923e6d97374536b836fc53c064d306

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "24e74c3b9911296d9c1884bb8faeb701106ef5f2b1b9902288aeb0ffc1e7ea5c",
    "cross_cats_sorted": [
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2021-10-23T00:04:05Z",
    "title_canon_sha256": "3e84197c3b87fec34c09e4b3d0a1175bde14e6eea6f0f8f21ecd7f59a56eb2a7"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2110.12097",
    "kind": "arxiv",
    "version": 3
  }
}