Pith Number

pith:OD4IJDSW

pith:2026:OD4IJDSWN3IADCQ3KUIHTFCHGO

not attested not anchored not stored refs pending

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation

Baoxu Liu, Guozheng Li, Huaihang Zheng, Kai Ma, Shenglin Xu, Si Liu, Tian Xie, Xiangyu Wang, Yinian Mao, Yiren Ma, Yi Yang

arxiv:2606.09337 v1 · 2026-06-08 · 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{OD4IJDSWN3IADCQ3KUIHTFCHGO}

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	2026-06-09T02:08:16.223839Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

70f8848e566ed0018a1b551079944733907020cfc3d2e8b9e1adf04b924cbb7a

Aliases

arxiv: 2606.09337 · arxiv_version: 2606.09337v1 · doi: 10.48550/arxiv.2606.09337 · pith_short_12: OD4IJDSWN3IA · pith_short_16: OD4IJDSWN3IADCQ3 · pith_short_8: OD4IJDSW

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/OD4IJDSWN3IADCQ3KUIHTFCHGO \
  | 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: 70f8848e566ed0018a1b551079944733907020cfc3d2e8b9e1adf04b924cbb7a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "02f45715dd8c4907478b768dbcdcc080022a626b6be54d34e46f5eb2ff7465bc",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-08T11:05:05Z",
    "title_canon_sha256": "9bf9c4f96ae8922088ecdd4b9c69a2fca53e15b6adf47f31cf07ba1bee6c0536"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.09337",
    "kind": "arxiv",
    "version": 1
  }
}