{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HRAH5EM64DN2WNGYCPSL72PAAB","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":"28849337eee4526db06104d8699d0eefcb2601395a4e84b549481b4c77861bdf","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T18:07:01Z","title_canon_sha256":"66d5375e2c50d0719a6a5e12941690a9355065666610b465c53f6666510a4467"},"schema_version":"1.0","source":{"id":"2606.08765","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.08765","created_at":"2026-06-09T02:07:38Z"},{"alias_kind":"arxiv_version","alias_value":"2606.08765v1","created_at":"2026-06-09T02:07:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.08765","created_at":"2026-06-09T02:07:38Z"},{"alias_kind":"pith_short_12","alias_value":"HRAH5EM64DN2","created_at":"2026-06-09T02:07:38Z"},{"alias_kind":"pith_short_16","alias_value":"HRAH5EM64DN2WNGY","created_at":"2026-06-09T02:07:38Z"},{"alias_kind":"pith_short_8","alias_value":"HRAH5EM6","created_at":"2026-06-09T02:07:38Z"}],"graph_snapshots":[{"event_id":"sha256:a9b1052602d8bd00f35fc3907c6786880a2269bb5f7d9d33d3737a0983c075dd","target":"graph","created_at":"2026-06-09T02:07:38Z","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/2606.08765/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Effective visuo-tactile integration is critical for robotic dexterous manipulation, especially when visual observations are unreliable or occluded. However, robustly aligning sparse, heterogeneous tactile measurements with dense visual representations remains a fundamental challenge. Most existing approaches require policies to learn cross-modal correspondences implicitly from limited demonstrations, without leveraging geometric priors. As a result, they are often data-inefficient and generalize poorly when visual observations are degraded. To address this limitation, we propose a framework th","authors_text":"Chenxi Xiao, Kefei Wu, Shengcheng Luo, Wanlin Li, Xiaoying Zhou, Ziyuan Jiao","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T18:07:01Z","title":"RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.08765","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:e0ade8f53f183efc6efa3b33c29af8d38be0e3a0beea00493a55986062bdae6d","target":"record","created_at":"2026-06-09T02:07:38Z","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":"28849337eee4526db06104d8699d0eefcb2601395a4e84b549481b4c77861bdf","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T18:07:01Z","title_canon_sha256":"66d5375e2c50d0719a6a5e12941690a9355065666610b465c53f6666510a4467"},"schema_version":"1.0","source":{"id":"2606.08765","kind":"arxiv","version":1}},"canonical_sha256":"3c407e919ee0dbab34d813e4bfe9e00055e9ad5ae6abf4941a6712cc534559c1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3c407e919ee0dbab34d813e4bfe9e00055e9ad5ae6abf4941a6712cc534559c1","first_computed_at":"2026-06-09T02:07:38.109732Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:07:38.109732Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"WrdnJJwJJyOqJJtwq9MXkB4jkjHecHk3OMwk18vRmGcVSkoH2q6H5xu919fS0/Ji80B3PR/wWfSIMBA1j6n9CQ==","signature_status":"signed_v1","signed_at":"2026-06-09T02:07:38.110621Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.08765","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e0ade8f53f183efc6efa3b33c29af8d38be0e3a0beea00493a55986062bdae6d","sha256:a9b1052602d8bd00f35fc3907c6786880a2269bb5f7d9d33d3737a0983c075dd"],"state_sha256":"1764744867f002df0b0e9ac56887fb63a5a7aec1687fe47abf97cf38aab73fba"}