Pith Number

pith:YBP7GPFD

pith:2023:YBP7GPFDLCCOKIBAJ5BTXTLQVL

not attested not anchored not stored refs pending

osmAG: Hierarchical Semantic Topometric Area Graph Maps in the OSM Format for Mobile Robotics

Chengqian Li, Chen Yu, Delin Feng, Soeren Schwertfeger, Yongqi Zhang

arxiv:2309.04791 v1 · 2023-09-09 · 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{YBP7GPFDLCCOKIBAJ5BTXTLQVL}

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	2026-07-05T06:49:27.187874Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c05ff33ca35884e520204f433bcd70aad8b006157c6a23e2decf6327cecbf85f

Aliases

arxiv: 2309.04791 · arxiv_version: 2309.04791v1 · doi: 10.48550/arxiv.2309.04791 · pith_short_12: YBP7GPFDLCCO · pith_short_16: YBP7GPFDLCCOKIBA · pith_short_8: YBP7GPFD

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/YBP7GPFDLCCOKIBAJ5BTXTLQVL \
  | 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: c05ff33ca35884e520204f433bcd70aad8b006157c6a23e2decf6327cecbf85f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "980e54a67ee44d09977ca03c0a702d0a30535da0c1a51902abbe5d16779fa76b",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-09-09T13:36:24Z",
    "title_canon_sha256": "707f132c04086672ba4278bef77f60d6352fdb9bb0dd848ace99bda4fa161838"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2309.04791",
    "kind": "arxiv",
    "version": 1
  }
}