Pith Number

pith:YDRQIVL5

pith:2019:YDRQIVL5IYJDT2IG7PMW4K6HVR

not attested not anchored not stored refs pending

Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation

Allan Zhao, Anthony Sinclair, Brent Yi, David V. Gealy, Greg Balke, Menglong Guo, Peter Cuellar, Philipp Wu, Phillip R. Downey, Pieter Abbeel, Rachel Thomasson, Stephen McKinley, Zoe McCarthy

arxiv:1904.03815 v2 · 2019-04-08 · 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{YDRQIVL5IYJDT2IG7PMW4K6HVR}

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	2026-05-17T23:48:44.915343Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c0e304557d461239e906fbd96e2bc7ac60d14999d4bb9c324f4e0fc526e51b9d

Aliases

arxiv: 1904.03815 · arxiv_version: 1904.03815v2 · doi: 10.48550/arxiv.1904.03815 · pith_short_12: YDRQIVL5IYJD · pith_short_16: YDRQIVL5IYJDT2IG · pith_short_8: YDRQIVL5

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/YDRQIVL5IYJDT2IG7PMW4K6HVR \
  | 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: c0e304557d461239e906fbd96e2bc7ac60d14999d4bb9c324f4e0fc526e51b9d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "eda96929ce80faa0f5fd70224d8cf13506089d040aa8a38e434fc865f4b7a535",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-04-08T03:21:23Z",
    "title_canon_sha256": "9ed39dbecdb396a28a137bb01c2ebdcf09aa90f3813927dba7313e0e48e298a3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1904.03815",
    "kind": "arxiv",
    "version": 2
  }
}