{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:C2M7ZW5BA5I372JEYRSC5HZQYX","short_pith_number":"pith:C2M7ZW5B","canonical_record":{"source":{"id":"2606.24712","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T15:33:51Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e0342e23025555f5d6dc23af1f027745de54b4f337bb57deae3d8607ad041f5d","abstract_canon_sha256":"9bb497a8944c291e72534ff42f2953970e85eae00f8e4bda01832fb9c42289f4"},"schema_version":"1.0"},"canonical_sha256":"1699fcdba10751bfe924c4642e9f30c5dcab9deeba1be075a803fdd5169a0e68","source":{"kind":"arxiv","id":"2606.24712","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24712","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24712v1","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24712","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"C2M7ZW5BA5I3","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_16","alias_value":"C2M7ZW5BA5I372JE","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_8","alias_value":"C2M7ZW5B","created_at":"2026-06-24T01:15:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:C2M7ZW5BA5I372JEYRSC5HZQYX","target":"record","payload":{"canonical_record":{"source":{"id":"2606.24712","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T15:33:51Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e0342e23025555f5d6dc23af1f027745de54b4f337bb57deae3d8607ad041f5d","abstract_canon_sha256":"9bb497a8944c291e72534ff42f2953970e85eae00f8e4bda01832fb9c42289f4"},"schema_version":"1.0"},"canonical_sha256":"1699fcdba10751bfe924c4642e9f30c5dcab9deeba1be075a803fdd5169a0e68","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-24T01:15:39.814930Z","signature_b64":"xsVFvoo5yrYIf7Vaw1IVruZHe9kRUMYF75RO19T9mCRCz8lt3W67dd78qKTCbLLulIvP2GPnqfrOQ1EQcW4BBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1699fcdba10751bfe924c4642e9f30c5dcab9deeba1be075a803fdd5169a0e68","last_reissued_at":"2026-06-24T01:15:39.814501Z","signature_status":"signed_v1","first_computed_at":"2026-06-24T01:15:39.814501Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.24712","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":"2026-06-24T01:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pTWkWMToyw+VBfHqRZYDQ1IABS7QdgAfWRTjBRiizyphWuoH0Ueq2mIqF7Ji89JRJNnmt4Xn6ihkUb67ofgVCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T20:00:23.870112Z"},"content_sha256":"69eca3ae55b5790b109e34bd8727527c557e6b1fac7dcafbc0cdf18aea4b86fb","schema_version":"1.0","event_id":"sha256:69eca3ae55b5790b109e34bd8727527c557e6b1fac7dcafbc0cdf18aea4b86fb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:C2M7ZW5BA5I372JEYRSC5HZQYX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Camilla Tabasso, Chung Hee Kim, Joshua Migdal, Shivani Kamtikar, Taskin Padir, Tye Brady","submitted_at":"2026-06-23T15:33:51Z","abstract_excerpt":"Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile exploration and object identification. We present TACTFUL, a vision-free tactile exploration framework that enables a multi-fingered robot to autonomously explore confined workspaces, discover objects through contact, and identify them via tactile reconstruction. Trained entirely on real hardware without simulation, our system learns a single policy that balances global workspace exploration with local surface refinement t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24712","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/2606.24712/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":"2026-06-24T01:15:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CZPBEuoVqsPCaHc9LHICL1vrYBFsBBAK0Y6ZZzszi24tCyKeNhvx/vMlRgjl0qjtlMge9/rdyDYJoKmdPXfAAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-27T20:00:23.870494Z"},"content_sha256":"b5479b713eb5bd6842b5c41171463c652e1c056c8b3b4e28ba78029022f7a94f","schema_version":"1.0","event_id":"sha256:b5479b713eb5bd6842b5c41171463c652e1c056c8b3b4e28ba78029022f7a94f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/bundle.json","state_url":"https://pith.science/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/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":"2026-06-27T20:00:23Z","links":{"resolver":"https://pith.science/pith/C2M7ZW5BA5I372JEYRSC5HZQYX","bundle":"https://pith.science/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/bundle.json","state":"https://pith.science/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/C2M7ZW5BA5I372JEYRSC5HZQYX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:C2M7ZW5BA5I372JEYRSC5HZQYX","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":"9bb497a8944c291e72534ff42f2953970e85eae00f8e4bda01832fb9c42289f4","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T15:33:51Z","title_canon_sha256":"e0342e23025555f5d6dc23af1f027745de54b4f337bb57deae3d8607ad041f5d"},"schema_version":"1.0","source":{"id":"2606.24712","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24712","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24712v1","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24712","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_12","alias_value":"C2M7ZW5BA5I3","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_16","alias_value":"C2M7ZW5BA5I372JE","created_at":"2026-06-24T01:15:39Z"},{"alias_kind":"pith_short_8","alias_value":"C2M7ZW5B","created_at":"2026-06-24T01:15:39Z"}],"graph_snapshots":[{"event_id":"sha256:b5479b713eb5bd6842b5c41171463c652e1c056c8b3b4e28ba78029022f7a94f","target":"graph","created_at":"2026-06-24T01:15:39Z","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/2606.24712/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile exploration and object identification. We present TACTFUL, a vision-free tactile exploration framework that enables a multi-fingered robot to autonomously explore confined workspaces, discover objects through contact, and identify them via tactile reconstruction. Trained entirely on real hardware without simulation, our system learns a single policy that balances global workspace exploration with local surface refinement t","authors_text":"Camilla Tabasso, Chung Hee Kim, Joshua Migdal, Shivani Kamtikar, Taskin Padir, Tye Brady","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T15:33:51Z","title":"TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24712","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":"sha256:69eca3ae55b5790b109e34bd8727527c557e6b1fac7dcafbc0cdf18aea4b86fb","target":"record","created_at":"2026-06-24T01:15:39Z","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":"9bb497a8944c291e72534ff42f2953970e85eae00f8e4bda01832fb9c42289f4","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T15:33:51Z","title_canon_sha256":"e0342e23025555f5d6dc23af1f027745de54b4f337bb57deae3d8607ad041f5d"},"schema_version":"1.0","source":{"id":"2606.24712","kind":"arxiv","version":1}},"canonical_sha256":"1699fcdba10751bfe924c4642e9f30c5dcab9deeba1be075a803fdd5169a0e68","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1699fcdba10751bfe924c4642e9f30c5dcab9deeba1be075a803fdd5169a0e68","first_computed_at":"2026-06-24T01:15:39.814501Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-24T01:15:39.814501Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xsVFvoo5yrYIf7Vaw1IVruZHe9kRUMYF75RO19T9mCRCz8lt3W67dd78qKTCbLLulIvP2GPnqfrOQ1EQcW4BBA==","signature_status":"signed_v1","signed_at":"2026-06-24T01:15:39.814930Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.24712","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:69eca3ae55b5790b109e34bd8727527c557e6b1fac7dcafbc0cdf18aea4b86fb","sha256:b5479b713eb5bd6842b5c41171463c652e1c056c8b3b4e28ba78029022f7a94f"],"state_sha256":"cdda347b61495ee252f3d6ae5dca966bc7f71e5c6e3fe6b811090611986d8994"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"W2nAOlF8coR9bkyuHKFelo4FT0RDHfxMuyhTwlTsEZ4YBOZrbJzUmdvimPaCPSi+DIYHuAhyvyzi8TY4+1rNDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-27T20:00:23.872676Z","bundle_sha256":"2518ebca639c5d0d3809321d558ec920e77ef5d0c56fdab2cb38a20ad48eb288"}}