Pith Number

pith:A3HJGGMV

pith:2025:A3HJGGMV4VSJBCDLWFOP7SLV45

not attested not anchored not stored refs pending

Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning

Gabriele Tiboni, Georgia Chalvatzaki, Rickmer Krohn, Vignesh Prasad

Self-supervised multisensory pretraining allows robots to learn contact-rich manipulation with few real-world trials.

arxiv:2511.14427 v4 · 2025-11-18 · cs.RO · cs.LG

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\usepackage{pith}
\pithnumber{A3HJGGMV4VSJBCDLWFOP7SLV45}

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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.

Claims

C1strongest claim

Our approach exhibits strong robustness to perturbations and achieves high success rates on the real robot with as few as 6,000 online interactions, offering a simple yet powerful solution for complex multisensory robotic control.

C2weakest assumption

That the representations learned by masked autoencoding on multisensory observations will contain the dynamic, task-relevant features needed by the critic without requiring additional fine-tuning or task-specific adaptation during pretraining.

C3one line summary

MSDP pretrains a transformer encoder via masked multisensory reconstruction and feeds the embeddings into an asymmetric actor-critic RL setup, yielding faster learning and high real-robot success rates with only 6,000 interactions.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-06-11T01:09:22.060932Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

06ce931995e56490886bb15cffc975e75af518af2d1a8565542febba39471d14

Aliases

arxiv: 2511.14427 · arxiv_version: 2511.14427v4 · doi: 10.48550/arxiv.2511.14427 · pith_short_12: A3HJGGMV4VSJ · pith_short_16: A3HJGGMV4VSJBCDL · pith_short_8: A3HJGGMV

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/A3HJGGMV4VSJBCDLWFOP7SLV45 \
  | 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: 06ce931995e56490886bb15cffc975e75af518af2d1a8565542febba39471d14

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "c3477e2c1833f426114f4a3fe7e2d6b5894a75c233d767e77345ba14b14957a5",
    "cross_cats_sorted": [
      "cs.LG"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-11-18T12:32:23Z",
    "title_canon_sha256": "20c20ad424df6c7dad37ba2e44711c0f607ef77018f9cabda1b5c620afc23513"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2511.14427",
    "kind": "arxiv",
    "version": 4
  }
}