Pith Number

pith:M2BNSL6W

pith:2026:M2BNSL6WNKVKTT6JILSUGJA3Z6

not attested not anchored not stored refs pending

Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation

Bin Xie, Ce Hao, Fang Deng, Long Cheng, Pengwei Zhang, Tiancai Wang, Xinpan Meng, Xinyu Guo

arxiv:2607.03387 v1 · 2026-07-03 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{M2BNSL6WNKVKTT6JILSUGJA3Z6}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-07T02:17:40.800956Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6682d92fd66aaaa9cfc942e543241bcf8d344f751d1e4bec2590b6fec1bdb85d

Aliases

arxiv: 2607.03387 · arxiv_version: 2607.03387v1 · doi: 10.48550/arxiv.2607.03387 · pith_short_12: M2BNSL6WNKVK · pith_short_16: M2BNSL6WNKVKTT6J · pith_short_8: M2BNSL6W

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/M2BNSL6WNKVKTT6JILSUGJA3Z6 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 6682d92fd66aaaa9cfc942e543241bcf8d344f751d1e4bec2590b6fec1bdb85d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "106a5d341b6fabf6cae6ddbcef0077333c93b972f639b36415ca76ac8545a5c5",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-03T14:42:30Z",
    "title_canon_sha256": "a9366c4c97f0e6dbb917e7e00c8d569b070d3d3e681d732cd8bdf46c6771d71c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.03387",
    "kind": "arxiv",
    "version": 1
  }
}