{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:2I6UQJHPO7EYAXJXQFXKWXXXJX","short_pith_number":"pith:2I6UQJHP","canonical_record":{"source":{"id":"2209.13042","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-26T21:50:39Z","cross_cats_sorted":[],"title_canon_sha256":"1ba9ce78cce6c1fdd443c85c56635ec10d5d01629aac0eb4eaf1db04d5d2324e","abstract_canon_sha256":"1564b87c58c00997a058446f3132f2d3bd6d850dfdaeb51a40b9c532ec004ce9"},"schema_version":"1.0"},"canonical_sha256":"d23d4824ef77c9805d37816eab5ef74dc1ecb437c90c2076b7f136c7ddd9e693","source":{"kind":"arxiv","id":"2209.13042","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.13042","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"arxiv_version","alias_value":"2209.13042v2","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.13042","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_12","alias_value":"2I6UQJHPO7EY","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_16","alias_value":"2I6UQJHPO7EYAXJX","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_8","alias_value":"2I6UQJHP","created_at":"2026-07-05T06:35:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:2I6UQJHPO7EYAXJXQFXKWXXXJX","target":"record","payload":{"canonical_record":{"source":{"id":"2209.13042","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-26T21:50:39Z","cross_cats_sorted":[],"title_canon_sha256":"1ba9ce78cce6c1fdd443c85c56635ec10d5d01629aac0eb4eaf1db04d5d2324e","abstract_canon_sha256":"1564b87c58c00997a058446f3132f2d3bd6d850dfdaeb51a40b9c532ec004ce9"},"schema_version":"1.0"},"canonical_sha256":"d23d4824ef77c9805d37816eab5ef74dc1ecb437c90c2076b7f136c7ddd9e693","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:35:45.699053Z","signature_b64":"sbvt9qgvD3DAK9Fhu/OrpXLAp3ytclQpLRqDQ603rszYDJBHViBL9oRfk3P7K3wyaw87JW3r7evjh+G3rxcdBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d23d4824ef77c9805d37816eab5ef74dc1ecb437c90c2076b7f136c7ddd9e693","last_reissued_at":"2026-07-05T06:35:45.698530Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:35:45.698530Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.13042","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:35:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K+x9jxknhxlUkBQqQgdlkX4l1nJ1ILCdEgaXnShsUbW+oelTwE9z9qC7Up+BCQMhCOlR09LsF1s5rAUYitDFCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T01:45:47.836861Z"},"content_sha256":"8153423bcd272b400babbdff671980db5246d304f26fb77f6954f41848d16ad6","schema_version":"1.0","event_id":"sha256:8153423bcd272b400babbdff671980db5246d304f26fb77f6954f41848d16ad6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:2I6UQJHPO7EYAXJXQFXKWXXXJX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Albert Wilcox, Huang Huang, Jeffrey Ichnowski, Justin Kerr, Ken Goldberg, Roberto Calandra, Ryan Hoque","submitted_at":"2022-09-26T21:50:39Z","abstract_excerpt":"Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work demonstrates the efficacy of tactile sensing for precise manipulation of deformables, they typically rely on supervised, human-labeled datasets. We propose Self-Supervised Visuo-Tactile Pretraining (SSVTP), a framework for learning multi-task visuo-tactile representations in a self-supervised manner through cross-modal supervision. We design a mechanism that e"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.13042","kind":"arxiv","version":2},"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/2209.13042/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":"2026-07-05T06:35:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"s7n0wfMaRBi5LSf4GcsabYgfRAJZpZSVGVibZY0v99M15+wlhr67ULxaMBdVbd8us+7ba7lko7ZnNO1MRJvGDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T01:45:47.837739Z"},"content_sha256":"39c6ec6d9ce3b41056d869c634a6831e0f8599cf75efe7fa871fe1e1cff6a03c","schema_version":"1.0","event_id":"sha256:39c6ec6d9ce3b41056d869c634a6831e0f8599cf75efe7fa871fe1e1cff6a03c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/bundle.json","state_url":"https://pith.science/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/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":"2026-08-07T01:45:47Z","links":{"resolver":"https://pith.science/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX","bundle":"https://pith.science/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/bundle.json","state":"https://pith.science/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2I6UQJHPO7EYAXJXQFXKWXXXJX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:2I6UQJHPO7EYAXJXQFXKWXXXJX","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":"1564b87c58c00997a058446f3132f2d3bd6d850dfdaeb51a40b9c532ec004ce9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-26T21:50:39Z","title_canon_sha256":"1ba9ce78cce6c1fdd443c85c56635ec10d5d01629aac0eb4eaf1db04d5d2324e"},"schema_version":"1.0","source":{"id":"2209.13042","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.13042","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"arxiv_version","alias_value":"2209.13042v2","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.13042","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_12","alias_value":"2I6UQJHPO7EY","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_16","alias_value":"2I6UQJHPO7EYAXJX","created_at":"2026-07-05T06:35:45Z"},{"alias_kind":"pith_short_8","alias_value":"2I6UQJHP","created_at":"2026-07-05T06:35:45Z"}],"graph_snapshots":[{"event_id":"sha256:39c6ec6d9ce3b41056d869c634a6831e0f8599cf75efe7fa871fe1e1cff6a03c","target":"graph","created_at":"2026-07-05T06:35:45Z","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/2209.13042/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work demonstrates the efficacy of tactile sensing for precise manipulation of deformables, they typically rely on supervised, human-labeled datasets. We propose Self-Supervised Visuo-Tactile Pretraining (SSVTP), a framework for learning multi-task visuo-tactile representations in a self-supervised manner through cross-modal supervision. We design a mechanism that e","authors_text":"Albert Wilcox, Huang Huang, Jeffrey Ichnowski, Justin Kerr, Ken Goldberg, Roberto Calandra, Ryan Hoque","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-26T21:50:39Z","title":"Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.13042","kind":"arxiv","version":2},"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":"sha256:8153423bcd272b400babbdff671980db5246d304f26fb77f6954f41848d16ad6","target":"record","created_at":"2026-07-05T06:35:45Z","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":"1564b87c58c00997a058446f3132f2d3bd6d850dfdaeb51a40b9c532ec004ce9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-09-26T21:50:39Z","title_canon_sha256":"1ba9ce78cce6c1fdd443c85c56635ec10d5d01629aac0eb4eaf1db04d5d2324e"},"schema_version":"1.0","source":{"id":"2209.13042","kind":"arxiv","version":2}},"canonical_sha256":"d23d4824ef77c9805d37816eab5ef74dc1ecb437c90c2076b7f136c7ddd9e693","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d23d4824ef77c9805d37816eab5ef74dc1ecb437c90c2076b7f136c7ddd9e693","first_computed_at":"2026-07-05T06:35:45.698530Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:35:45.698530Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"sbvt9qgvD3DAK9Fhu/OrpXLAp3ytclQpLRqDQ603rszYDJBHViBL9oRfk3P7K3wyaw87JW3r7evjh+G3rxcdBg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:35:45.699053Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.13042","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8153423bcd272b400babbdff671980db5246d304f26fb77f6954f41848d16ad6","sha256:39c6ec6d9ce3b41056d869c634a6831e0f8599cf75efe7fa871fe1e1cff6a03c"],"state_sha256":"627f899e4994e30b736f5e782c7455beb55b6ce8bb58f827e29490554e55fb59"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rqONOh+84weqP6QFNya6mQPDm/dd21wqD9SFVHAOc0xZq4NztVK/CQsDphMe8E47dXqW5ZbG6m4XHbM4KI4eCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T01:45:47.843023Z","bundle_sha256":"19d941acea818f2d86ea4467f8c1a78f6b472c36d71f0493b5d138472e6f616e"}}