{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:2SPXUXZSZSAKWYZS6EYBOCBTI6","short_pith_number":"pith:2SPXUXZS","canonical_record":{"source":{"id":"2606.06281","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T15:23:03Z","cross_cats_sorted":[],"title_canon_sha256":"469a78f6db65abcb9853ee349629a7d5a2ccfd85b3cad716f1408f0cb2507d4f","abstract_canon_sha256":"69f47af1d9c6aafe27b21b0880be25b4cd3cb28ea451289db412918c96a17a15"},"schema_version":"1.0"},"canonical_sha256":"d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34","source":{"kind":"arxiv","id":"2606.06281","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.06281","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2606.06281v1","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.06281","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"2SPXUXZSZSAK","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"2SPXUXZSZSAKWYZS","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"2SPXUXZS","created_at":"2026-06-05T01:15:40Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:2SPXUXZSZSAKWYZS6EYBOCBTI6","target":"record","payload":{"canonical_record":{"source":{"id":"2606.06281","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T15:23:03Z","cross_cats_sorted":[],"title_canon_sha256":"469a78f6db65abcb9853ee349629a7d5a2ccfd85b3cad716f1408f0cb2507d4f","abstract_canon_sha256":"69f47af1d9c6aafe27b21b0880be25b4cd3cb28ea451289db412918c96a17a15"},"schema_version":"1.0"},"canonical_sha256":"d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-05T01:15:40.446001Z","signature_b64":"klFJj34xnT34fcOpNbvkjqcM+ng6Jw6Rhu288ITnyx9mjWxBwb2JVB3fBWDh6gHVlEcGBRbFzUYQUTvgZQfNCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34","last_reissued_at":"2026-06-05T01:15:40.445606Z","signature_status":"signed_v1","first_computed_at":"2026-06-05T01:15:40.445606Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.06281","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-05T01:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6QOjkv8GimHztq9r5MpzjZl5+pPPEiwhGpvN8KLA1nMywAhgoSdqn3nxb3QcBYJlrWwM7MX2T0bXjxUltH6yAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T03:37:44.508707Z"},"content_sha256":"491720b801dfc1887c1a2f474c0d30bb038bd2f1a4aebdafb551b85f44370996","schema_version":"1.0","event_id":"sha256:491720b801dfc1887c1a2f474c0d30bb038bd2f1a4aebdafb551b85f44370996"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:2SPXUXZSZSAKWYZS6EYBOCBTI6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Erik Helmut, Georgia Chalvatzaki, Jan Peters, Niklas Funk, Rickmer Krohn, Vignesh Prasad","submitted_at":"2026-06-04T15:23:03Z","abstract_excerpt":"Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of multiple heterogeneous tactile sensors to improve manipulation learning remains underexplored. We present Multi-Resolution Tactile Sensing (MiTaS), a representation framework that leverages multiple tactile sensors operating at different temporal resolutions in order to solve complex contact-rich manipulation tasks. We propose a novel architecture using modality-specific convolutional stems and transformer-based fus"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06281","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.06281/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-05T01:15:40Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vpwijM/N59THO/T+ejMdmEPC8Ogk/E5c+2DlYZgv/h/hNUjr8IcS+4DkuU8f2Q9Yyjd7occR0Fyjhz+Ab7u4AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T03:37:44.509077Z"},"content_sha256":"18a4849b59fdeac841a54dc7d10ea29069b48a33f00e407c7604af8fcdc48cef","schema_version":"1.0","event_id":"sha256:18a4849b59fdeac841a54dc7d10ea29069b48a33f00e407c7604af8fcdc48cef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/bundle.json","state_url":"https://pith.science/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-06-30T03:37:44Z","links":{"resolver":"https://pith.science/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6","bundle":"https://pith.science/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/bundle.json","state":"https://pith.science/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2SPXUXZSZSAKWYZS6EYBOCBTI6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:2SPXUXZSZSAKWYZS6EYBOCBTI6","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.06281","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"arxiv_version","alias_value":"2606.06281v1","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.06281","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_12","alias_value":"2SPXUXZSZSAK","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_16","alias_value":"2SPXUXZSZSAKWYZS","created_at":"2026-06-05T01:15:40Z"},{"alias_kind":"pith_short_8","alias_value":"2SPXUXZS","created_at":"2026-06-05T01:15:40Z"}],"graph_snapshots":[{"event_id":"sha256:18a4849b59fdeac841a54dc7d10ea29069b48a33f00e407c7604af8fcdc48cef","target":"graph","created_at":"2026-06-05T01:15:40Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2606.06281/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Touch sensing is beneficial for solving a wide variety of manipulation tasks. While there exists a wide range of tactile sensors with different properties, exploiting the fusion of multiple heterogeneous tactile sensors to improve manipulation learning remains underexplored. We present Multi-Resolution Tactile Sensing (MiTaS), a representation framework that leverages multiple tactile sensors operating at different temporal resolutions in order to solve complex contact-rich manipulation tasks. We propose a novel architecture using modality-specific convolutional stems and transformer-based fus","authors_text":"Erik Helmut, Georgia Chalvatzaki, Jan Peters, Niklas Funk, Rickmer Krohn, Vignesh Prasad","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T15:23:03Z","title":"Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06281","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:491720b801dfc1887c1a2f474c0d30bb038bd2f1a4aebdafb551b85f44370996","target":"record","created_at":"2026-06-05T01:15:40Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"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}},"canonical_sha256":"d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d49f7a5f32cc80ab6332f13017083347a51310b2ae572cab448cca6d6b20bc34","first_computed_at":"2026-06-05T01:15:40.445606Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-05T01:15:40.445606Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"klFJj34xnT34fcOpNbvkjqcM+ng6Jw6Rhu288ITnyx9mjWxBwb2JVB3fBWDh6gHVlEcGBRbFzUYQUTvgZQfNCA==","signature_status":"signed_v1","signed_at":"2026-06-05T01:15:40.446001Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.06281","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:491720b801dfc1887c1a2f474c0d30bb038bd2f1a4aebdafb551b85f44370996","sha256:18a4849b59fdeac841a54dc7d10ea29069b48a33f00e407c7604af8fcdc48cef"],"state_sha256":"5429495ae8dcb7f3553fca30ae68fb2f87691afcc42b2facadcc80c8e03b9ab5"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4XkbBYbWc5WkgQVhnvZ7MPSHEuxyjErguP1Lk8c1EuE2WaVD0hI0R7yTSE72NDPIcGVsEjn7rYlFv/9tsgurCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T03:37:44.510930Z","bundle_sha256":"9766b853fd7b0e95d1848d928d2cdc8f36bbd82b757e79a7a511df7bd38bcde8"}}