{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:B5YIJ3SMFAIUIXCBYVJR2DIUPN","short_pith_number":"pith:B5YIJ3SM","canonical_record":{"source":{"id":"2506.18256","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-23T02:59:05Z","cross_cats_sorted":[],"title_canon_sha256":"dedf092ea19f850991759e4ad5245d81e94ff894347c9f64d903474f824a00ff","abstract_canon_sha256":"7ee552c7397751f8942ac3d4403c40f052ce229610dd1429b460a66142e1a67f"},"schema_version":"1.0"},"canonical_sha256":"0f7084ee4c2811445c41c5531d0d147b6a632fc1d52981c357bb000188f1b083","source":{"kind":"arxiv","id":"2506.18256","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.18256","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"arxiv_version","alias_value":"2506.18256v1","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.18256","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_12","alias_value":"B5YIJ3SMFAIU","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_16","alias_value":"B5YIJ3SMFAIUIXCB","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_8","alias_value":"B5YIJ3SM","created_at":"2026-07-05T11:25:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:B5YIJ3SMFAIUIXCBYVJR2DIUPN","target":"record","payload":{"canonical_record":{"source":{"id":"2506.18256","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-23T02:59:05Z","cross_cats_sorted":[],"title_canon_sha256":"dedf092ea19f850991759e4ad5245d81e94ff894347c9f64d903474f824a00ff","abstract_canon_sha256":"7ee552c7397751f8942ac3d4403c40f052ce229610dd1429b460a66142e1a67f"},"schema_version":"1.0"},"canonical_sha256":"0f7084ee4c2811445c41c5531d0d147b6a632fc1d52981c357bb000188f1b083","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:25:47.069968Z","signature_b64":"+qZ0klHy9gSL8UQgkIqy39IzT8wjwYYeOr/krHL4eO6AnpnmbXK93mTz3gEakxZZ2se1f2KQ0SKNRQFAvLJVBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0f7084ee4c2811445c41c5531d0d147b6a632fc1d52981c357bb000188f1b083","last_reissued_at":"2026-07-05T11:25:47.069459Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:25:47.069459Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.18256","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":"2026-07-05T11:25:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AjgZM7UkD6Otf0Gi/nJYAufaf47kfVcPguh3X4gJ7xjxKDjLA89yuN5WI7Ui2W0vSZJaVnoQoLrn8dwC7vKwBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T03:00:49.837433Z"},"content_sha256":"cbe9ebee3f08bd76f49a00a38fe8b98e8cddffe07e8d57a077b47efa07973b67","schema_version":"1.0","event_id":"sha256:cbe9ebee3f08bd76f49a00a38fe8b98e8cddffe07e8d57a077b47efa07973b67"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:B5YIJ3SMFAIUIXCBYVJR2DIUPN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robot Tactile Gesture Recognition Based on Full-body Modular E-skin","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boce Hu, Lawson L.S. Wong, Linfeng Zhao, Shuo Jiang","submitted_at":"2025-06-23T02:59:05Z","abstract_excerpt":"With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize tactile gestures and interpret them as human commands. We developed a modular robot E-skin, composed of multiple irregularly shaped skin patches, which can be assembled to cover the robot's body while capturing real-time pressure and pose data from thousands of sensing points. To process this information, we propose an equivariant graph neural network-based recog"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.18256","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/2506.18256/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":"2026-07-05T11:25:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MqhsWQ9RBvB3r3KqEoXi+Axhe2HGm4F59ejlSgvgiGDAhS2KqeruXdkKfR6JazCWxO0O1+1oCcnmz0rrdMXNBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T03:00:49.837806Z"},"content_sha256":"d33d68ec80544f248a2f8b1b4bf6bf08ae1f8228f4d1b2f026bff906be4cbfb4","schema_version":"1.0","event_id":"sha256:d33d68ec80544f248a2f8b1b4bf6bf08ae1f8228f4d1b2f026bff906be4cbfb4"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/bundle.json","state_url":"https://pith.science/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/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":"2026-07-07T03:00:49Z","links":{"resolver":"https://pith.science/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN","bundle":"https://pith.science/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/bundle.json","state":"https://pith.science/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B5YIJ3SMFAIUIXCBYVJR2DIUPN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:B5YIJ3SMFAIUIXCBYVJR2DIUPN","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":"7ee552c7397751f8942ac3d4403c40f052ce229610dd1429b460a66142e1a67f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-23T02:59:05Z","title_canon_sha256":"dedf092ea19f850991759e4ad5245d81e94ff894347c9f64d903474f824a00ff"},"schema_version":"1.0","source":{"id":"2506.18256","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.18256","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"arxiv_version","alias_value":"2506.18256v1","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.18256","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_12","alias_value":"B5YIJ3SMFAIU","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_16","alias_value":"B5YIJ3SMFAIUIXCB","created_at":"2026-07-05T11:25:47Z"},{"alias_kind":"pith_short_8","alias_value":"B5YIJ3SM","created_at":"2026-07-05T11:25:47Z"}],"graph_snapshots":[{"event_id":"sha256:d33d68ec80544f248a2f8b1b4bf6bf08ae1f8228f4d1b2f026bff906be4cbfb4","target":"graph","created_at":"2026-07-05T11:25:47Z","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/2506.18256/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"With the development of robot electronic skin technology, various tactile sensors, enhanced by AI, are unlocking a new dimension of perception for robots. In this work, we explore how robots equipped with electronic skin can recognize tactile gestures and interpret them as human commands. We developed a modular robot E-skin, composed of multiple irregularly shaped skin patches, which can be assembled to cover the robot's body while capturing real-time pressure and pose data from thousands of sensing points. To process this information, we propose an equivariant graph neural network-based recog","authors_text":"Boce Hu, Lawson L.S. Wong, Linfeng Zhao, Shuo Jiang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-23T02:59:05Z","title":"Robot Tactile Gesture Recognition Based on Full-body Modular E-skin"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.18256","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:cbe9ebee3f08bd76f49a00a38fe8b98e8cddffe07e8d57a077b47efa07973b67","target":"record","created_at":"2026-07-05T11:25:47Z","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":"7ee552c7397751f8942ac3d4403c40f052ce229610dd1429b460a66142e1a67f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-23T02:59:05Z","title_canon_sha256":"dedf092ea19f850991759e4ad5245d81e94ff894347c9f64d903474f824a00ff"},"schema_version":"1.0","source":{"id":"2506.18256","kind":"arxiv","version":1}},"canonical_sha256":"0f7084ee4c2811445c41c5531d0d147b6a632fc1d52981c357bb000188f1b083","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0f7084ee4c2811445c41c5531d0d147b6a632fc1d52981c357bb000188f1b083","first_computed_at":"2026-07-05T11:25:47.069459Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:25:47.069459Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"+qZ0klHy9gSL8UQgkIqy39IzT8wjwYYeOr/krHL4eO6AnpnmbXK93mTz3gEakxZZ2se1f2KQ0SKNRQFAvLJVBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:25:47.069968Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.18256","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cbe9ebee3f08bd76f49a00a38fe8b98e8cddffe07e8d57a077b47efa07973b67","sha256:d33d68ec80544f248a2f8b1b4bf6bf08ae1f8228f4d1b2f026bff906be4cbfb4"],"state_sha256":"6796c603fb27b0ec78419fa03c02e8d73e0ea4fc27f6abfdc7dcdd2b2ff2a8c4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"olcRKP1fHt62HAaIJBnRhG58ILygaPiPbZAdwQsiWZ5X2EVccYBd3x1LR4TWL5N3ffuKTzo3BtIIYoK+adXfDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T03:00:49.840012Z","bundle_sha256":"3dfbe7fc96f3dacbd07a6f1911908921b47b47d4a9e35b06bf6b994947419792"}}