Pith Number

pith:472XQC6X

pith:2024:472XQC6XRZZNUHYR2SQFVOYEIN

not attested not anchored not stored refs pending

DIABLO: A 6-DoF Wheeled Bipedal Robot Composed Entirely of Direct-Drive Joints

Dingchuan Liu, Fangfang Yang, Ximin Lyu, Xuanhong Liao

arxiv:2407.21500 v3 · 2024-07-31 · 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{472XQC6XRZZNUHYR2SQFVOYEIN}

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	2026-07-05T09:05:37.837209Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

e7f5780bd78e72da1f11d4a05abb04437bd8fbe082aa644b29056d9352dcb3c2

Aliases

arxiv: 2407.21500 · arxiv_version: 2407.21500v3 · doi: 10.48550/arxiv.2407.21500 · pith_short_12: 472XQC6XRZZN · pith_short_16: 472XQC6XRZZNUHYR · pith_short_8: 472XQC6X

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/472XQC6XRZZNUHYR2SQFVOYEIN \
  | 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: e7f5780bd78e72da1f11d4a05abb04437bd8fbe082aa644b29056d9352dcb3c2

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3cd95db0bf48df6968a2e2b34452793499408ffa3980a3f464662a14f2e5a0d4",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-07-31T10:14:18Z",
    "title_canon_sha256": "0b8c373d44a5821596eb6d600f66720a104b9ddd0f1cf7a3bd692d894cf6f2d4"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2407.21500",
    "kind": "arxiv",
    "version": 3
  }
}