Pith Number

pith:2SPXUXZS

pith:2026:2SPXUXZSZSAKWYZS6EYBOCBTI6

not attested not anchored not stored refs pending

Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation

Erik Helmut, Georgia Chalvatzaki, Jan Peters, Niklas Funk, Rickmer Krohn, Vignesh Prasad

arxiv:2606.06281 v1 · 2026-06-04 · 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{2SPXUXZSZSAKWYZS6EYBOCBTI6}

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	2026-06-05T01:15:40.445606Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34

Aliases

arxiv: 2606.06281 · arxiv_version: 2606.06281v1 · doi: 10.48550/arxiv.2606.06281 · pith_short_12: 2SPXUXZSZSAK · pith_short_16: 2SPXUXZSZSAKWYZS · pith_short_8: 2SPXUXZS

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/2SPXUXZSZSAKWYZS6EYBOCBTI6 \
  | 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: d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "69f47af1d9c6aafe27b21b0880be25b4cd3cb28ea451289db412918c96a17a15",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-04T15:23:03Z",
    "title_canon_sha256": "469a78f6db65abcb9853ee349629a7d5a2ccfd85b3cad716f1408f0cb2507d4f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.06281",
    "kind": "arxiv",
    "version": 1
  }
}