{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:IPQXCX3GF6KDXSDRIIYDHLOIQC","short_pith_number":"pith:IPQXCX3G","canonical_record":{"source":{"id":"2504.12908","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T12:57:11Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cf8c60d2c597d06d040b923cb3cc7bf25fdf631cf30fe52db9f7ae43bd814682","abstract_canon_sha256":"6eed429f7a55ad45de65bae540591b8ec7707b77c85b5185b70477fe6c678da3"},"schema_version":"1.0"},"canonical_sha256":"43e1715f662f943bc871423033adc880a325547e2823e4081eabb7ff2420e71f","source":{"kind":"arxiv","id":"2504.12908","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.12908","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"arxiv_version","alias_value":"2504.12908v2","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.12908","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_12","alias_value":"IPQXCX3GF6KD","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_16","alias_value":"IPQXCX3GF6KDXSDR","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_8","alias_value":"IPQXCX3G","created_at":"2026-07-05T12:10:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:IPQXCX3GF6KDXSDRIIYDHLOIQC","target":"record","payload":{"canonical_record":{"source":{"id":"2504.12908","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T12:57:11Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"cf8c60d2c597d06d040b923cb3cc7bf25fdf631cf30fe52db9f7ae43bd814682","abstract_canon_sha256":"6eed429f7a55ad45de65bae540591b8ec7707b77c85b5185b70477fe6c678da3"},"schema_version":"1.0"},"canonical_sha256":"43e1715f662f943bc871423033adc880a325547e2823e4081eabb7ff2420e71f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:10:57.316749Z","signature_b64":"wB4azJxycc8AbNL9SlZ8MDbMPMpMdg3mcviEgC2FAP0sFTq+0mGnQDc4atZM8uIIKLQciS3XZ5+dWeoWVkZeCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"43e1715f662f943bc871423033adc880a325547e2823e4081eabb7ff2420e71f","last_reissued_at":"2026-07-05T12:10:57.316095Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:10:57.316095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.12908","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T12:10:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x4o2MrcE/RJH9Fzv46pU2ve9je0otgVoJo+0XVfGvbI4waN4z5yosF9zE95JYNFa5ngN+mO5FNLeCQAAdeBdDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:00:17.602828Z"},"content_sha256":"891742b866f35620e2677686ec9c872ab796dd05127ab0e3ce8e3201dbd95206","schema_version":"1.0","event_id":"sha256:891742b866f35620e2677686ec9c872ab796dd05127ab0e3ce8e3201dbd95206"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:IPQXCX3GF6KDXSDRIIYDHLOIQC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Chang Yu, Chenfanfu Jiang, Puhao Li, Siyuan Huang, Tengyu Liu, Wenxin Du, Yixin Zhu, Yuyang Li, Zihang Zhao","submitted_at":"2025-04-17T12:57:11Z","abstract_excerpt":"Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique challenges in robotics for their complex physical characteristics and visual signal processing requirements. The lack of efficient and accurate simulation tools for VBTSs has significantly limited the scale and scope of tactile robotics research. We present Taccel, a high-performance simulation platform that integrates IPC and ABD to model robots, tactile sensors, a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.12908","kind":"arxiv","version":2},"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/2504.12908/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":"2026-07-05T12:10:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nsI+TXBIMxOvQy7S1GIhgiFIXBFTjDiEw2TSTHlXwalZk0FRTbzHJyUsoQ8Wofl5//rCLtLMHx+o2DD2s0qCCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T06:00:17.603478Z"},"content_sha256":"0d95d63d359c7957033d711bcafe93aba3e0421267669f19265b9629d0f0add0","schema_version":"1.0","event_id":"sha256:0d95d63d359c7957033d711bcafe93aba3e0421267669f19265b9629d0f0add0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/bundle.json","state_url":"https://pith.science/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/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":"2026-07-09T06:00:17Z","links":{"resolver":"https://pith.science/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC","bundle":"https://pith.science/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/bundle.json","state":"https://pith.science/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IPQXCX3GF6KDXSDRIIYDHLOIQC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:IPQXCX3GF6KDXSDRIIYDHLOIQC","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":"6eed429f7a55ad45de65bae540591b8ec7707b77c85b5185b70477fe6c678da3","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T12:57:11Z","title_canon_sha256":"cf8c60d2c597d06d040b923cb3cc7bf25fdf631cf30fe52db9f7ae43bd814682"},"schema_version":"1.0","source":{"id":"2504.12908","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.12908","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"arxiv_version","alias_value":"2504.12908v2","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.12908","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_12","alias_value":"IPQXCX3GF6KD","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_16","alias_value":"IPQXCX3GF6KDXSDR","created_at":"2026-07-05T12:10:57Z"},{"alias_kind":"pith_short_8","alias_value":"IPQXCX3G","created_at":"2026-07-05T12:10:57Z"}],"graph_snapshots":[{"event_id":"sha256:0d95d63d359c7957033d711bcafe93aba3e0421267669f19265b9629d0f0add0","target":"graph","created_at":"2026-07-05T12:10:57Z","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/2504.12908/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile sensing is crucial for achieving human-level robotic capabilities in manipulation tasks. As a promising solution, Vision-Based Tactile Sensors (VBTSs) offer high spatial resolution and cost-effectiveness, but present unique challenges in robotics for their complex physical characteristics and visual signal processing requirements. The lack of efficient and accurate simulation tools for VBTSs has significantly limited the scale and scope of tactile robotics research. We present Taccel, a high-performance simulation platform that integrates IPC and ABD to model robots, tactile sensors, a","authors_text":"Chang Yu, Chenfanfu Jiang, Puhao Li, Siyuan Huang, Tengyu Liu, Wenxin Du, Yixin Zhu, Yuyang Li, Zihang Zhao","cross_cats":["cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T12:57:11Z","title":"Taccel: Scaling Up Vision-based Tactile Robotics via High-performance GPU Simulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.12908","kind":"arxiv","version":2},"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":"sha256:891742b866f35620e2677686ec9c872ab796dd05127ab0e3ce8e3201dbd95206","target":"record","created_at":"2026-07-05T12:10:57Z","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":"6eed429f7a55ad45de65bae540591b8ec7707b77c85b5185b70477fe6c678da3","cross_cats_sorted":["cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-04-17T12:57:11Z","title_canon_sha256":"cf8c60d2c597d06d040b923cb3cc7bf25fdf631cf30fe52db9f7ae43bd814682"},"schema_version":"1.0","source":{"id":"2504.12908","kind":"arxiv","version":2}},"canonical_sha256":"43e1715f662f943bc871423033adc880a325547e2823e4081eabb7ff2420e71f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"43e1715f662f943bc871423033adc880a325547e2823e4081eabb7ff2420e71f","first_computed_at":"2026-07-05T12:10:57.316095Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:10:57.316095Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wB4azJxycc8AbNL9SlZ8MDbMPMpMdg3mcviEgC2FAP0sFTq+0mGnQDc4atZM8uIIKLQciS3XZ5+dWeoWVkZeCw==","signature_status":"signed_v1","signed_at":"2026-07-05T12:10:57.316749Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.12908","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:891742b866f35620e2677686ec9c872ab796dd05127ab0e3ce8e3201dbd95206","sha256:0d95d63d359c7957033d711bcafe93aba3e0421267669f19265b9629d0f0add0"],"state_sha256":"dc18f81e3235f709093a308c0a500d738e13b9ae724fe4f43f08c14d69058b20"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1rb97zk3elWyesvrJhLUIoVDftMQDiCQTtoW8zbWSdslDo1FlBgMxBnQy5wd/qJjAm/OMWb4/Uv8F5Ve7OWhBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T06:00:17.606816Z","bundle_sha256":"cd57be34c8e95d5f5b7cbac7aa5572e64426ddfc2f31086aaee8f071a681d647"}}