{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:D4YYDJKNYNRICUADS2XZZX7PJZ","short_pith_number":"pith:D4YYDJKN","schema_version":"1.0","canonical_sha256":"1f3181a54dc36281500396af9cdfef4e41d60656c546a5642e35f8739cdaf7bd","source":{"kind":"arxiv","id":"2606.29173","version":1},"attestation_state":"computed","paper":{"title":"TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aarosh Das, Ang Li, Bowei Tian, Guoheng Sun, Joshua Liu, Lang Xiong, Meng Feng, Meng Liu, Shwai He, Sihan Chen, Siyuan Peng, Wanghao Ye, Yexiao He, Yifei Dong, Yilong Dai, Yiting Wang, Yuning Zhang, Zhaoyi Liu, Zhenle Duan, Zheyu Shen, Ziyao Wang, Ziyi Wang","submitted_at":"2026-06-28T03:37:04Z","abstract_excerpt":"Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation learning can reproduce this grounding. TacGen mitigates the tactile-data scarcity bottleneck by combining pre-specified V+T contrastive alignment with a latent-space residual-MLP V->T generator that synthesizes tactile latents from RGB for tactile-data scaling. With matched DINOv2 backbones, splits, and probes, V+T improves matched V-only on mass (Delta R^2=+"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.29173","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T03:37:04Z","cross_cats_sorted":[],"title_canon_sha256":"dd823911775e34880eedc36a228d1976514d935e4343fe85d079348b2ae0fe98","abstract_canon_sha256":"b2f323a4005dd431e55619fb4fac95e4226fc926801a50ce676823ae2e455caf"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-30T01:17:55.882211Z","signature_b64":"U4URDhblAkb2JvfCQSEA01qC1dUCW1eHht/O1g9fYTyARe7M+OWh1UnGdZwfD3Aq8U4PDmTztfnpBxTDghinCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1f3181a54dc36281500396af9cdfef4e41d60656c546a5642e35f8739cdaf7bd","last_reissued_at":"2026-06-30T01:17:55.881462Z","signature_status":"signed_v1","first_computed_at":"2026-06-30T01:17:55.881462Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"TacGen: Touch Is a Necessary Dimension of Physical-World Representation -- Addressing Tactile Data Scarcity with Scalable Vision-to-Touch Alignment and Generation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aarosh Das, Ang Li, Bowei Tian, Guoheng Sun, Joshua Liu, Lang Xiong, Meng Feng, Meng Liu, Shwai He, Sihan Chen, Siyuan Peng, Wanghao Ye, Yexiao He, Yifei Dong, Yilong Dai, Yiting Wang, Yuning Zhang, Zhaoyi Liu, Zhenle Duan, Zheyu Shen, Ziyao Wang, Ziyi Wang","submitted_at":"2026-06-28T03:37:04Z","abstract_excerpt":"Touch resolves the physical-property ambiguity left by vision: exploratory contact recovers shape, texture, compliance, and material, and visuo-haptic object representations converge in ventral visual cortex. We ask whether representation learning can reproduce this grounding. TacGen mitigates the tactile-data scarcity bottleneck by combining pre-specified V+T contrastive alignment with a latent-space residual-MLP V->T generator that synthesizes tactile latents from RGB for tactile-data scaling. With matched DINOv2 backbones, splits, and probes, V+T improves matched V-only on mass (Delta R^2=+"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29173","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/2606.29173/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.29173","created_at":"2026-06-30T01:17:55.881578+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.29173v1","created_at":"2026-06-30T01:17:55.881578+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29173","created_at":"2026-06-30T01:17:55.881578+00:00"},{"alias_kind":"pith_short_12","alias_value":"D4YYDJKNYNRI","created_at":"2026-06-30T01:17:55.881578+00:00"},{"alias_kind":"pith_short_16","alias_value":"D4YYDJKNYNRICUAD","created_at":"2026-06-30T01:17:55.881578+00:00"},{"alias_kind":"pith_short_8","alias_value":"D4YYDJKN","created_at":"2026-06-30T01:17:55.881578+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ","json":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ.json","graph_json":"https://pith.science/api/pith-number/D4YYDJKNYNRICUADS2XZZX7PJZ/graph.json","events_json":"https://pith.science/api/pith-number/D4YYDJKNYNRICUADS2XZZX7PJZ/events.json","paper":"https://pith.science/paper/D4YYDJKN"},"agent_actions":{"view_html":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ","download_json":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ.json","view_paper":"https://pith.science/paper/D4YYDJKN","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.29173&json=true","fetch_graph":"https://pith.science/api/pith-number/D4YYDJKNYNRICUADS2XZZX7PJZ/graph.json","fetch_events":"https://pith.science/api/pith-number/D4YYDJKNYNRICUADS2XZZX7PJZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ/action/storage_attestation","attest_author":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ/action/author_attestation","sign_citation":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ/action/citation_signature","submit_replication":"https://pith.science/pith/D4YYDJKNYNRICUADS2XZZX7PJZ/action/replication_record"}},"created_at":"2026-06-30T01:17:55.881578+00:00","updated_at":"2026-06-30T01:17:55.881578+00:00"}