{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:MIO7Y2DGV2NQ7EVBRUFZFVBURA","short_pith_number":"pith:MIO7Y2DG","canonical_record":{"source":{"id":"2505.23175","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T07:12:50Z","cross_cats_sorted":[],"title_canon_sha256":"aa81edc09dce93fad2af8b4a8ec3d3002f2aaacc92b4c665518d1f0c1e6cbfd9","abstract_canon_sha256":"b38e5fc3c80b0a1cb522fc1fe6b46d382b54daf5df97f33778747cfa5b3ec011"},"schema_version":"1.0"},"canonical_sha256":"621dfc6866ae9b0f92a18d0b92d434881d642289739d0fb7052d8e670890d2cf","source":{"kind":"arxiv","id":"2505.23175","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.23175","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"arxiv_version","alias_value":"2505.23175v2","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.23175","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_12","alias_value":"MIO7Y2DGV2NQ","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_16","alias_value":"MIO7Y2DGV2NQ7EVB","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_8","alias_value":"MIO7Y2DG","created_at":"2026-07-05T12:02:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:MIO7Y2DGV2NQ7EVBRUFZFVBURA","target":"record","payload":{"canonical_record":{"source":{"id":"2505.23175","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T07:12:50Z","cross_cats_sorted":[],"title_canon_sha256":"aa81edc09dce93fad2af8b4a8ec3d3002f2aaacc92b4c665518d1f0c1e6cbfd9","abstract_canon_sha256":"b38e5fc3c80b0a1cb522fc1fe6b46d382b54daf5df97f33778747cfa5b3ec011"},"schema_version":"1.0"},"canonical_sha256":"621dfc6866ae9b0f92a18d0b92d434881d642289739d0fb7052d8e670890d2cf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T12:02:02.176741Z","signature_b64":"H8bfLtuM0jE5Y86k8V1jxpJrn1v1/zwtwWENDN8BQ1E08Q6trZ9gnLM72+Yv9Aj0xF7i2FLuENlHAHfsJnTdCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"621dfc6866ae9b0f92a18d0b92d434881d642289739d0fb7052d8e670890d2cf","last_reissued_at":"2026-07-05T12:02:02.176219Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T12:02:02.176219Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.23175","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":"2026-07-05T12:02:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WZSobpVCsK9nOoQKYn/UnvI7TzgiCnBd3/wqHfSmJYDEuHW/Aos4B9aBmPD0R31lykwkbvbub3EJ81ALrAi+Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:30:35.373928Z"},"content_sha256":"d30c63dd86bd29db4cf37fd9df5200560bd79657e8b54162e0d1e8c366192732","schema_version":"1.0","event_id":"sha256:d30c63dd86bd29db4cf37fd9df5200560bd79657e8b54162e0d1e8c366192732"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:MIO7Y2DGV2NQ7EVBRUFZFVBURA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boda Huo, Changyi Lin, Ding Zhao, Jie Tan, Mingyang Yu, Shiqi Liu, Tingnan Zhang, Wenhao Yu, Yikai Wang, Yiyue Luo, Yuxiang Yang, Yuxin Ray Song","submitted_at":"2025-05-29T07:12:50Z","abstract_excerpt":"Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we present LocoTouch, a system that equips quadrupedal robots with tactile sensing to address a particularly challenging task in this category: long-distance transport of unsecured cylindrical objects, which typically requires custom mounting or fastening mechanisms to maintain stability. For efficient large-area tactile sensing, we design a high-density distribu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.23175","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/2505.23175/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":"2026-07-05T12:02:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wpN5a8J5LWHWQh3qQoRsYyZHzCJ7sSAcHPw180hvtDG5JPH5HZIvjdC8j6FDeFSUm4Y7K0IKfaB6QfFXYpA0Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T03:30:35.374526Z"},"content_sha256":"3e9f79bf8441a04c6d934da26f599aa739b358da59f17271209101736dc1488b","schema_version":"1.0","event_id":"sha256:3e9f79bf8441a04c6d934da26f599aa739b358da59f17271209101736dc1488b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/bundle.json","state_url":"https://pith.science/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/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":"2026-08-19T03:30:35Z","links":{"resolver":"https://pith.science/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA","bundle":"https://pith.science/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/bundle.json","state":"https://pith.science/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MIO7Y2DGV2NQ7EVBRUFZFVBURA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:MIO7Y2DGV2NQ7EVBRUFZFVBURA","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":"b38e5fc3c80b0a1cb522fc1fe6b46d382b54daf5df97f33778747cfa5b3ec011","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T07:12:50Z","title_canon_sha256":"aa81edc09dce93fad2af8b4a8ec3d3002f2aaacc92b4c665518d1f0c1e6cbfd9"},"schema_version":"1.0","source":{"id":"2505.23175","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.23175","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"arxiv_version","alias_value":"2505.23175v2","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.23175","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_12","alias_value":"MIO7Y2DGV2NQ","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_16","alias_value":"MIO7Y2DGV2NQ7EVB","created_at":"2026-07-05T12:02:02Z"},{"alias_kind":"pith_short_8","alias_value":"MIO7Y2DG","created_at":"2026-07-05T12:02:02Z"}],"graph_snapshots":[{"event_id":"sha256:3e9f79bf8441a04c6d934da26f599aa739b358da59f17271209101736dc1488b","target":"graph","created_at":"2026-07-05T12:02:02Z","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/2505.23175/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Quadrupedal robots have demonstrated remarkable agility and robustness in traversing complex terrains. However, they struggle with dynamic object interactions, where contact must be precisely sensed and controlled. To bridge this gap, we present LocoTouch, a system that equips quadrupedal robots with tactile sensing to address a particularly challenging task in this category: long-distance transport of unsecured cylindrical objects, which typically requires custom mounting or fastening mechanisms to maintain stability. For efficient large-area tactile sensing, we design a high-density distribu","authors_text":"Boda Huo, Changyi Lin, Ding Zhao, Jie Tan, Mingyang Yu, Shiqi Liu, Tingnan Zhang, Wenhao Yu, Yikai Wang, Yiyue Luo, Yuxiang Yang, Yuxin Ray Song","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T07:12:50Z","title":"LocoTouch: Learning Dynamic Quadrupedal Transport with Tactile Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.23175","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:d30c63dd86bd29db4cf37fd9df5200560bd79657e8b54162e0d1e8c366192732","target":"record","created_at":"2026-07-05T12:02:02Z","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":"b38e5fc3c80b0a1cb522fc1fe6b46d382b54daf5df97f33778747cfa5b3ec011","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-05-29T07:12:50Z","title_canon_sha256":"aa81edc09dce93fad2af8b4a8ec3d3002f2aaacc92b4c665518d1f0c1e6cbfd9"},"schema_version":"1.0","source":{"id":"2505.23175","kind":"arxiv","version":2}},"canonical_sha256":"621dfc6866ae9b0f92a18d0b92d434881d642289739d0fb7052d8e670890d2cf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"621dfc6866ae9b0f92a18d0b92d434881d642289739d0fb7052d8e670890d2cf","first_computed_at":"2026-07-05T12:02:02.176219Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:02:02.176219Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H8bfLtuM0jE5Y86k8V1jxpJrn1v1/zwtwWENDN8BQ1E08Q6trZ9gnLM72+Yv9Aj0xF7i2FLuENlHAHfsJnTdCw==","signature_status":"signed_v1","signed_at":"2026-07-05T12:02:02.176741Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.23175","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d30c63dd86bd29db4cf37fd9df5200560bd79657e8b54162e0d1e8c366192732","sha256:3e9f79bf8441a04c6d934da26f599aa739b358da59f17271209101736dc1488b"],"state_sha256":"821181a943ee897592e3320131983f4c8f532297b940ebae1951cf54eda628ff"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ho4itMUkTFxi8j9y2uNQxvV5G2Dm2XyQkQoY2QzdNX8cfyQKdJr6bpvUnzouBlgsdlpGSWBABa2h1Q68eTuhDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T03:30:35.381289Z","bundle_sha256":"ffd973b76239a2c082fd0efb6e19e4cc26c1b64d589edd933020aa30cd78f990"}}