Pith Number

pith:ZNFIRQ5A

pith:2019:ZNFIRQ5ABESASGRFEC3QBOUFVU

not attested not anchored not stored refs pending

LEGO: Leveraging Experience in Roadmap Generation for Sampling-Based Planning

Aditya Mandalika, Rahul Kumar, Sanjiban Choudhury, Siddhartha S. Srinivasa

arxiv:1907.09574 v1 · 2019-07-22 · 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{ZNFIRQ5ABESASGRFEC3QBOUFVU}

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	2026-05-17T23:39:52.879496Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

cb4a88c3a00924091a2520b700ba85ad34ca5e724e337309bf62a12501805066

Aliases

arxiv: 1907.09574 · arxiv_version: 1907.09574v1 · doi: 10.48550/arxiv.1907.09574 · pith_short_12: ZNFIRQ5ABESA · pith_short_16: ZNFIRQ5ABESASGRF · pith_short_8: ZNFIRQ5A

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/ZNFIRQ5ABESASGRFEC3QBOUFVU \
  | 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: cb4a88c3a00924091a2520b700ba85ad34ca5e724e337309bf62a12501805066

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "08cb59014dca4ce9f817ec83f54c70ee04df11b4c50da59411a4312a4826d8f3",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-07-22T21:07:11Z",
    "title_canon_sha256": "f1020cff30d15db8569936b4c413916d033a492b59dec35841a7d6219c7ce8c3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1907.09574",
    "kind": "arxiv",
    "version": 1
  }
}