{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:EITB2BB52MDOZ3VSW4EGDICMOS","short_pith_number":"pith:EITB2BB5","canonical_record":{"source":{"id":"2607.08742","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T17:42:15Z","cross_cats_sorted":[],"title_canon_sha256":"11caf4d141bd3f6649567b5b5aa7c8380bbbbf3f4c48116a4fa9ef214a359e8e","abstract_canon_sha256":"1631644fa40c80a1d6fdda7c94cc4960b608bf83e1078af60c43ae6fd04978f6"},"schema_version":"1.0"},"canonical_sha256":"22261d043dd306eceeb2b70861a04c748a2ac2aa753c65dc1717321f1332a6c0","source":{"kind":"arxiv","id":"2607.08742","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08742","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08742v1","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08742","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_12","alias_value":"EITB2BB52MDO","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_16","alias_value":"EITB2BB52MDOZ3VS","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_8","alias_value":"EITB2BB5","created_at":"2026-07-10T01:19:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:EITB2BB52MDOZ3VSW4EGDICMOS","target":"record","payload":{"canonical_record":{"source":{"id":"2607.08742","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T17:42:15Z","cross_cats_sorted":[],"title_canon_sha256":"11caf4d141bd3f6649567b5b5aa7c8380bbbbf3f4c48116a4fa9ef214a359e8e","abstract_canon_sha256":"1631644fa40c80a1d6fdda7c94cc4960b608bf83e1078af60c43ae6fd04978f6"},"schema_version":"1.0"},"canonical_sha256":"22261d043dd306eceeb2b70861a04c748a2ac2aa753c65dc1717321f1332a6c0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-10T01:19:58.958583Z","signature_b64":"0OJcu7nUy+yo+cXb9EZiaZ+qJ9puBMXlw7ckzvTEnovhOC5ZEMP7BoE6beXGgZuxvw/KSnhAUwWRKRR05CPpAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"22261d043dd306eceeb2b70861a04c748a2ac2aa753c65dc1717321f1332a6c0","last_reissued_at":"2026-07-10T01:19:58.958171Z","signature_status":"signed_v1","first_computed_at":"2026-07-10T01:19:58.958171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.08742","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":"2026-07-10T01:19:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dgBUea/yPhbSO7ef1SiZ+vUwP2SnQMxpyC8akOAK2R277UiABcWOOv0lxiPiQpNBz2AFhjlznWRAZevrTnyxDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T00:37:26.807623Z"},"content_sha256":"3ae0067b107e139ae643a094b0ba8576d1cc32e7068208cb2ecd406b5d5682e8","schema_version":"1.0","event_id":"sha256:3ae0067b107e139ae643a094b0ba8576d1cc32e7068208cb2ecd406b5d5682e8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:EITB2BB52MDOZ3VSW4EGDICMOS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ContactMimic: Humanoid Object Interaction via Contact Control","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Runpei Dong, Saurabh Gupta, Xialin He, Xinyao Li","submitted_at":"2026-07-09T17:42:15Z","abstract_excerpt":"Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose without making meaningful physical contact with the object. We present CONTACTMIMIC, a learning framework that tracks explicit partlevel binary contact commands alongside keypoint trajectories. CONTACTMIMIC is made possible through the use of contact-following rewards and a trajectory augmentation scheme aimed at breaking the correlations between keypoint trajectories and contact labels. The resulting policy successful"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08742","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/2607.08742/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":"2026-07-10T01:19:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"C4iHLVnuGIQE3PY4IwLMbtuZdbHwGBg3CFocx3dy43Pu7rYP8h0rENYNT4XiT1wjjtdX7YX+GLQmizT0gQCAAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T00:37:26.808250Z"},"content_sha256":"22895a7b66ae39e23fae827193941bf744d580342d44fb7fb8ae9494461efff4","schema_version":"1.0","event_id":"sha256:22895a7b66ae39e23fae827193941bf744d580342d44fb7fb8ae9494461efff4"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:EITB2BB52MDOZ3VSW4EGDICMOS","target":"integrity","payload":{"note":"URL 'https://lixinyao11.github.io/' returned status 404 (Not Found) at last check.","snippet":null,"arxiv_id":"2607.08742","detector":"external_links","evidence":{"url":"https://lixinyao11.github.io/","final_url":"https://lixinyao11.github.io/","host_kind":"website","status_code":404,"status_text":"Not Found","verdict_class":"incontrovertible","checked_at_unix":1783661717.2863283},"severity":"advisory","ref_index":null,"audited_at":"2026-07-10T05:35:17.377459Z","event_type":"pith.integrity.v1","detected_doi":null,"detector_url":"https://pith.science/pith-integrity-protocol#external_links","external_url":"https://lixinyao11.github.io/","finding_type":"dead_url","evidence_hash":"063e9f0cd358c0a5536f4108b4679eca7951c56d401c8899ef220d144077f911","paper_version":1,"verdict_class":"incontrovertible","resolved_title":null,"detector_version":"1.0.0","detected_arxiv_id":null,"integrity_event_id":11861,"payload_sha256":"76a8a0608d435268dd8418c8248163519cec93c6f14687f7c1b8834d06c41020","signature_b64":"X8kVXWS122VFuOGKP5hzgytmEej5eqcPiQTsaLmY7NZW4ax6EoZiInRAMGlCNenkrrJl3CARue/a4O9KT694BA==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-10T05:38:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YPB8GISiIMMs1BNofvw9LI4dSU3CwSsz8sh21UJutsrAuw+IQuoEZSg68UiAfaV+0Qz9dmxNvUabrvuldf2tAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-11T00:37:26.810612Z"},"content_sha256":"d9d48db0a77a78152da85b98c1e001442432083415b1617a176ff41d126e470c","schema_version":"1.0","event_id":"sha256:d9d48db0a77a78152da85b98c1e001442432083415b1617a176ff41d126e470c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EITB2BB52MDOZ3VSW4EGDICMOS/bundle.json","state_url":"https://pith.science/pith/EITB2BB52MDOZ3VSW4EGDICMOS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EITB2BB52MDOZ3VSW4EGDICMOS/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":"2026-07-11T00:37:26Z","links":{"resolver":"https://pith.science/pith/EITB2BB52MDOZ3VSW4EGDICMOS","bundle":"https://pith.science/pith/EITB2BB52MDOZ3VSW4EGDICMOS/bundle.json","state":"https://pith.science/pith/EITB2BB52MDOZ3VSW4EGDICMOS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EITB2BB52MDOZ3VSW4EGDICMOS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EITB2BB52MDOZ3VSW4EGDICMOS","merge_version":"pith-open-graph-merge-v1","event_count":3,"valid_event_count":3,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"1631644fa40c80a1d6fdda7c94cc4960b608bf83e1078af60c43ae6fd04978f6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T17:42:15Z","title_canon_sha256":"11caf4d141bd3f6649567b5b5aa7c8380bbbbf3f4c48116a4fa9ef214a359e8e"},"schema_version":"1.0","source":{"id":"2607.08742","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.08742","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"arxiv_version","alias_value":"2607.08742v1","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.08742","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_12","alias_value":"EITB2BB52MDO","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_16","alias_value":"EITB2BB52MDOZ3VS","created_at":"2026-07-10T01:19:58Z"},{"alias_kind":"pith_short_8","alias_value":"EITB2BB5","created_at":"2026-07-10T01:19:58Z"}],"graph_snapshots":[{"event_id":"sha256:22895a7b66ae39e23fae827193941bf744d580342d44fb7fb8ae9494461efff4","target":"graph","created_at":"2026-07-10T01:19:58Z","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/2607.08742/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Keypoint tracking alone is insufficient for object interaction tasks such as sitting on a chair, wiping a board, or pushing furniture, where the robot can reach the correct pose without making meaningful physical contact with the object. We present CONTACTMIMIC, a learning framework that tracks explicit partlevel binary contact commands alongside keypoint trajectories. CONTACTMIMIC is made possible through the use of contact-following rewards and a trajectory augmentation scheme aimed at breaking the correlations between keypoint trajectories and contact labels. The resulting policy successful","authors_text":"Runpei Dong, Saurabh Gupta, Xialin He, Xinyao Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T17:42:15Z","title":"ContactMimic: Humanoid Object Interaction via Contact Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.08742","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":"sha256:3ae0067b107e139ae643a094b0ba8576d1cc32e7068208cb2ecd406b5d5682e8","target":"record","created_at":"2026-07-10T01:19:58Z","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":"1631644fa40c80a1d6fdda7c94cc4960b608bf83e1078af60c43ae6fd04978f6","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-09T17:42:15Z","title_canon_sha256":"11caf4d141bd3f6649567b5b5aa7c8380bbbbf3f4c48116a4fa9ef214a359e8e"},"schema_version":"1.0","source":{"id":"2607.08742","kind":"arxiv","version":1}},"canonical_sha256":"22261d043dd306eceeb2b70861a04c748a2ac2aa753c65dc1717321f1332a6c0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"22261d043dd306eceeb2b70861a04c748a2ac2aa753c65dc1717321f1332a6c0","first_computed_at":"2026-07-10T01:19:58.958171Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-10T01:19:58.958171Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0OJcu7nUy+yo+cXb9EZiaZ+qJ9puBMXlw7ckzvTEnovhOC5ZEMP7BoE6beXGgZuxvw/KSnhAUwWRKRR05CPpAw==","signature_status":"signed_v1","signed_at":"2026-07-10T01:19:58.958583Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.08742","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3ae0067b107e139ae643a094b0ba8576d1cc32e7068208cb2ecd406b5d5682e8","sha256:22895a7b66ae39e23fae827193941bf744d580342d44fb7fb8ae9494461efff4","sha256:d9d48db0a77a78152da85b98c1e001442432083415b1617a176ff41d126e470c"],"state_sha256":"4f89f44428d7b6bfd48724bad738bbc512557dfe09eafe366e04935970350e81"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2WAUEqFOzL7NGfsok4xjgJnaPnN94IdKEte31MQHAhYF5QGiUUm22CA9x6EbVwcn0ybabI8HsknxZk68IOR7Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-11T00:37:26.813937Z","bundle_sha256":"88309f784dc9011f6d754e670db44583fb19aef799aaf29b7af1c6b53cca165a"}}