{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:TSHSSTM5MZPF5NUZEZ4V32XZNW","short_pith_number":"pith:TSHSSTM5","canonical_record":{"source":{"id":"2606.31836","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T15:39:29Z","cross_cats_sorted":[],"title_canon_sha256":"69c9f34bb9b35c510e281134e5b0835e328087431f991fc3859b2660a3f3d505","abstract_canon_sha256":"9cc4234549948894a9ee3a02e543576402359bbde3c60f0df0e2d4d77109f427"},"schema_version":"1.0"},"canonical_sha256":"9c8f294d9d665e5eb69926795deaf96dbd0159f2c571cfb1c61eff66b1caaa2c","source":{"kind":"arxiv","id":"2606.31836","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.31836","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"arxiv_version","alias_value":"2606.31836v1","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.31836","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_12","alias_value":"TSHSSTM5MZPF","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_16","alias_value":"TSHSSTM5MZPF5NUZ","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_8","alias_value":"TSHSSTM5","created_at":"2026-07-01T01:18:17Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:TSHSSTM5MZPF5NUZEZ4V32XZNW","target":"record","payload":{"canonical_record":{"source":{"id":"2606.31836","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T15:39:29Z","cross_cats_sorted":[],"title_canon_sha256":"69c9f34bb9b35c510e281134e5b0835e328087431f991fc3859b2660a3f3d505","abstract_canon_sha256":"9cc4234549948894a9ee3a02e543576402359bbde3c60f0df0e2d4d77109f427"},"schema_version":"1.0"},"canonical_sha256":"9c8f294d9d665e5eb69926795deaf96dbd0159f2c571cfb1c61eff66b1caaa2c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-01T01:18:17.184212Z","signature_b64":"twGIyQDUpab2wNhKn8BgQCnlozktEOLcTEX9RlvVAMYeAQaoQs12xpfQ/tR+0DwHvlTu98cnZWwO848mEx3DAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c8f294d9d665e5eb69926795deaf96dbd0159f2c571cfb1c61eff66b1caaa2c","last_reissued_at":"2026-07-01T01:18:17.183802Z","signature_status":"signed_v1","first_computed_at":"2026-07-01T01:18:17.183802Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.31836","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":"2026-07-01T01:18:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"33r2qv2QyXksyS/e7Tik4cZK8HTETkDKux06fdDb7DenEtY8RSnwOUgxVUBdRtPYX0+ZbRxhld4A6LOIIa4SAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T06:09:35.684440Z"},"content_sha256":"61f54d4fe76e5bb400169e3160c869a0ccb19567095c496e2d161a9e6759e765","schema_version":"1.0","event_id":"sha256:61f54d4fe76e5bb400169e3160c869a0ccb19567095c496e2d161a9e6759e765"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:TSHSSTM5MZPF5NUZEZ4V32XZNW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chen Xin, Chong Yu, Donghan Li, Peng Ye, Tao Chen, Xinyi Wang, Yingkai Sun, Zi'Ang Chen","submitted_at":"2026-06-30T15:39:29Z","abstract_excerpt":"In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. We introduce RoboTacDex, a large, multi-modal, and diverse dataset of dexterous manipulation behaviors performed with a humanoid robot. Built on the publicly accessible humanoid robot Unitree G1, RoboTacDex consists of 6k trajectories covering 19 tasks, 23 skills, and interactions with 22 objects. RoboTacDex provides comprehensive records including multi-view RGB and depth information, tactile feedback, and detailed semantic annotations. F"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.31836","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/2606.31836/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":"2026-07-01T01:18:17Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+FrATAiGdy+S5WW+RF+SCL4oQG9bKQM7S4FHXw3NTSIvzOjG18Dmq2vXhAEcCw6IycfdgqxwVs/JhbLnPUzoAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T06:09:35.684818Z"},"content_sha256":"bf8559a0c53b422b141a3c7f3a6606142985a12ead9412e2bf762c5cd82ebd61","schema_version":"1.0","event_id":"sha256:bf8559a0c53b422b141a3c7f3a6606142985a12ead9412e2bf762c5cd82ebd61"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/bundle.json","state_url":"https://pith.science/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/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":"2026-07-02T06:09:35Z","links":{"resolver":"https://pith.science/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW","bundle":"https://pith.science/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/bundle.json","state":"https://pith.science/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TSHSSTM5MZPF5NUZEZ4V32XZNW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:TSHSSTM5MZPF5NUZEZ4V32XZNW","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":"9cc4234549948894a9ee3a02e543576402359bbde3c60f0df0e2d4d77109f427","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T15:39:29Z","title_canon_sha256":"69c9f34bb9b35c510e281134e5b0835e328087431f991fc3859b2660a3f3d505"},"schema_version":"1.0","source":{"id":"2606.31836","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.31836","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"arxiv_version","alias_value":"2606.31836v1","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.31836","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_12","alias_value":"TSHSSTM5MZPF","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_16","alias_value":"TSHSSTM5MZPF5NUZ","created_at":"2026-07-01T01:18:17Z"},{"alias_kind":"pith_short_8","alias_value":"TSHSSTM5","created_at":"2026-07-01T01:18:17Z"}],"graph_snapshots":[{"event_id":"sha256:bf8559a0c53b422b141a3c7f3a6606142985a12ead9412e2bf762c5cd82ebd61","target":"graph","created_at":"2026-07-01T01:18:17Z","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/2606.31836/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In the field of robot learning, large-scale and diverse demonstration trajectories provide the fundamental basis for enhancing robotic manipulation ability. We introduce RoboTacDex, a large, multi-modal, and diverse dataset of dexterous manipulation behaviors performed with a humanoid robot. Built on the publicly accessible humanoid robot Unitree G1, RoboTacDex consists of 6k trajectories covering 19 tasks, 23 skills, and interactions with 22 objects. RoboTacDex provides comprehensive records including multi-view RGB and depth information, tactile feedback, and detailed semantic annotations. F","authors_text":"Chen Xin, Chong Yu, Donghan Li, Peng Ye, Tao Chen, Xinyi Wang, Yingkai Sun, Zi'Ang Chen","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T15:39:29Z","title":"RoboTacDex: A Dexterous Visual-Tactile-Action Dataset for Humanoid Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.31836","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":"sha256:61f54d4fe76e5bb400169e3160c869a0ccb19567095c496e2d161a9e6759e765","target":"record","created_at":"2026-07-01T01:18:17Z","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":"9cc4234549948894a9ee3a02e543576402359bbde3c60f0df0e2d4d77109f427","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-30T15:39:29Z","title_canon_sha256":"69c9f34bb9b35c510e281134e5b0835e328087431f991fc3859b2660a3f3d505"},"schema_version":"1.0","source":{"id":"2606.31836","kind":"arxiv","version":1}},"canonical_sha256":"9c8f294d9d665e5eb69926795deaf96dbd0159f2c571cfb1c61eff66b1caaa2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c8f294d9d665e5eb69926795deaf96dbd0159f2c571cfb1c61eff66b1caaa2c","first_computed_at":"2026-07-01T01:18:17.183802Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-01T01:18:17.183802Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"twGIyQDUpab2wNhKn8BgQCnlozktEOLcTEX9RlvVAMYeAQaoQs12xpfQ/tR+0DwHvlTu98cnZWwO848mEx3DAQ==","signature_status":"signed_v1","signed_at":"2026-07-01T01:18:17.184212Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.31836","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:61f54d4fe76e5bb400169e3160c869a0ccb19567095c496e2d161a9e6759e765","sha256:bf8559a0c53b422b141a3c7f3a6606142985a12ead9412e2bf762c5cd82ebd61"],"state_sha256":"dfed43374885ef7f418194ad01de177e4ac55ff39bc741a39df7a3106d068d5b"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Wx1BM8vSeedoQfzBJ4k7XMiWjzKVWKRO4tSxzwYY4ddYYFO6ArmZDVfTKYV4pl6VdZJV6ARh5opsRZbLLpTaBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T06:09:35.686808Z","bundle_sha256":"38f8a3f05fd8a25ffb554e986e5516869139de1ef917e7d6b2a0a80ca7ee0258"}}