{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:FYT3TH5ZLWLPNG5ADACPSJ6JPY","short_pith_number":"pith:FYT3TH5Z","canonical_record":{"source":{"id":"2506.01944","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T17:57:52Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"77a1bf11069040e61b1953ea8f19abbf00d385ad15e7d42ed2e940eb227ad64c","abstract_canon_sha256":"24fae5779d019d4be8d3e4aa3e8fe1463d3fe698fa4c5f9afa290406a4bf8834"},"schema_version":"1.0"},"canonical_sha256":"2e27b99fb95d96f69ba01804f927c97e0a656525de3a8ef127a314fbfe1a4f3c","source":{"kind":"arxiv","id":"2506.01944","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.01944","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"arxiv_version","alias_value":"2506.01944v1","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.01944","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_12","alias_value":"FYT3TH5ZLWLP","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_16","alias_value":"FYT3TH5ZLWLPNG5A","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_8","alias_value":"FYT3TH5Z","created_at":"2026-07-05T11:14:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:FYT3TH5ZLWLPNG5ADACPSJ6JPY","target":"record","payload":{"canonical_record":{"source":{"id":"2506.01944","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T17:57:52Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"77a1bf11069040e61b1953ea8f19abbf00d385ad15e7d42ed2e940eb227ad64c","abstract_canon_sha256":"24fae5779d019d4be8d3e4aa3e8fe1463d3fe698fa4c5f9afa290406a4bf8834"},"schema_version":"1.0"},"canonical_sha256":"2e27b99fb95d96f69ba01804f927c97e0a656525de3a8ef127a314fbfe1a4f3c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:14:21.736079Z","signature_b64":"34aEw1ajIFlk5PZKSoSbq3i2LJSfzbuhLA5upnbLAHQWDqWTcw4kxBIb/feqwyfA1PQUyhFX2wnHqiWGksgMBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2e27b99fb95d96f69ba01804f927c97e0a656525de3a8ef127a314fbfe1a4f3c","last_reissued_at":"2026-07-05T11:14:21.735602Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:14:21.735602Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2506.01944","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":"2026-07-05T11:14:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ky+4HA/8N+G7c9/6paHlqoJ5LDZRpjJ/pqPbb9/LOsGyWlohyudw+r/ZAJZpH96FcN85qNXEOoutfqdF+PpzAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T09:27:59.336886Z"},"content_sha256":"bc1c5410bd509a74ba9a87817dd2b89c38d6bc1b19219bd19545415ab21874b0","schema_version":"1.0","event_id":"sha256:bc1c5410bd509a74ba9a87817dd2b89c38d6bc1b19219bd19545415ab21874b0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:FYT3TH5ZLWLPNG5ADACPSJ6JPY","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Feel the Force: Contact-Driven Learning from Humans","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Ademi Adeniji, Lerrel Pinto, Pieter Abbeel, Raunaq Bhirangi, Siddhant Haldar, Venkatesh Pattabiraman, Vincent Liu, Zhuoran Chen","submitted_at":"2025-06-02T17:57:52Z","abstract_excerpt":"Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world interactions. Learning directly from humans offers a scalable solution, enabling demonstrators to perform skills in their natural embodiment and in everyday environments. However, visual demonstrations alone lack the information needed to infer precise contact forces. We present FeelTheForce (FTF): a robot learning system that models human tactile behavior t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.01944","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/2506.01944/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":"2026-07-05T11:14:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WnlHidMIsEuTkpjilKMR/ZRhJvlnHkbcwNiNKGb0Ok8Df3TZFsnzVeVzWlOKnhr8s8Rs2kFw77iP6Dj7qX4jBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T09:27:59.337288Z"},"content_sha256":"fca538fc603c9897f35b3205653a887ceaf4514adca9edc91cea054c9550f2a5","schema_version":"1.0","event_id":"sha256:fca538fc603c9897f35b3205653a887ceaf4514adca9edc91cea054c9550f2a5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/bundle.json","state_url":"https://pith.science/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/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":"2026-07-14T09:27:59Z","links":{"resolver":"https://pith.science/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY","bundle":"https://pith.science/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/bundle.json","state":"https://pith.science/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FYT3TH5ZLWLPNG5ADACPSJ6JPY/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FYT3TH5ZLWLPNG5ADACPSJ6JPY","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":"24fae5779d019d4be8d3e4aa3e8fe1463d3fe698fa4c5f9afa290406a4bf8834","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T17:57:52Z","title_canon_sha256":"77a1bf11069040e61b1953ea8f19abbf00d385ad15e7d42ed2e940eb227ad64c"},"schema_version":"1.0","source":{"id":"2506.01944","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.01944","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"arxiv_version","alias_value":"2506.01944v1","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.01944","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_12","alias_value":"FYT3TH5ZLWLP","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_16","alias_value":"FYT3TH5ZLWLPNG5A","created_at":"2026-07-05T11:14:21Z"},{"alias_kind":"pith_short_8","alias_value":"FYT3TH5Z","created_at":"2026-07-05T11:14:21Z"}],"graph_snapshots":[{"event_id":"sha256:fca538fc603c9897f35b3205653a887ceaf4514adca9edc91cea054c9550f2a5","target":"graph","created_at":"2026-07-05T11:14:21Z","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/2506.01944/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Controlling fine-grained forces during manipulation remains a core challenge in robotics. While robot policies learned from robot-collected data or simulation show promise, they struggle to generalize across the diverse range of real-world interactions. Learning directly from humans offers a scalable solution, enabling demonstrators to perform skills in their natural embodiment and in everyday environments. However, visual demonstrations alone lack the information needed to infer precise contact forces. We present FeelTheForce (FTF): a robot learning system that models human tactile behavior t","authors_text":"Ademi Adeniji, Lerrel Pinto, Pieter Abbeel, Raunaq Bhirangi, Siddhant Haldar, Venkatesh Pattabiraman, Vincent Liu, Zhuoran Chen","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T17:57:52Z","title":"Feel the Force: Contact-Driven Learning from Humans"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.01944","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:bc1c5410bd509a74ba9a87817dd2b89c38d6bc1b19219bd19545415ab21874b0","target":"record","created_at":"2026-07-05T11:14:21Z","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":"24fae5779d019d4be8d3e4aa3e8fe1463d3fe698fa4c5f9afa290406a4bf8834","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-02T17:57:52Z","title_canon_sha256":"77a1bf11069040e61b1953ea8f19abbf00d385ad15e7d42ed2e940eb227ad64c"},"schema_version":"1.0","source":{"id":"2506.01944","kind":"arxiv","version":1}},"canonical_sha256":"2e27b99fb95d96f69ba01804f927c97e0a656525de3a8ef127a314fbfe1a4f3c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2e27b99fb95d96f69ba01804f927c97e0a656525de3a8ef127a314fbfe1a4f3c","first_computed_at":"2026-07-05T11:14:21.735602Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:14:21.735602Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"34aEw1ajIFlk5PZKSoSbq3i2LJSfzbuhLA5upnbLAHQWDqWTcw4kxBIb/feqwyfA1PQUyhFX2wnHqiWGksgMBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:14:21.736079Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.01944","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bc1c5410bd509a74ba9a87817dd2b89c38d6bc1b19219bd19545415ab21874b0","sha256:fca538fc603c9897f35b3205653a887ceaf4514adca9edc91cea054c9550f2a5"],"state_sha256":"1139fdc48b736d855b8297c8755122f943381baf3dc6127140deb4b9a8dda581"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X2Wjneie2HqOhcIswrvAC5RJtMiJtEyuYw2JyUw1u83sEPSy8KwSfvrRERvohXukOcHPguzPm7mwANt/6eF8Cw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-14T09:27:59.339443Z","bundle_sha256":"39bbf97099c4fa598ec8b1fa8b3f6354c7ee5a4906b26d70341c922da3f06fd4"}}