{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:NDTN7XQG62WFRKCCMBT246FI37","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":"35af13cd83769471439c79de887c4394ebb580eb44ed5595f7606f741fb9925b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T04:27:11Z","title_canon_sha256":"709f4d8e50399c169d51a86b33fdc4e27b2b83ea500a9aceace792dc5e506245"},"schema_version":"1.0","source":{"id":"2607.01684","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.01684","created_at":"2026-07-03T01:17:26Z"},{"alias_kind":"arxiv_version","alias_value":"2607.01684v1","created_at":"2026-07-03T01:17:26Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.01684","created_at":"2026-07-03T01:17:26Z"},{"alias_kind":"pith_short_12","alias_value":"NDTN7XQG62WF","created_at":"2026-07-03T01:17:26Z"},{"alias_kind":"pith_short_16","alias_value":"NDTN7XQG62WFRKCC","created_at":"2026-07-03T01:17:26Z"},{"alias_kind":"pith_short_8","alias_value":"NDTN7XQG","created_at":"2026-07-03T01:17:26Z"}],"graph_snapshots":[{"event_id":"sha256:048a416d51a858640d222af69d7e6cbcd0ca5feb6e44f118b600e94708217864","target":"graph","created_at":"2026-07-03T01:17:26Z","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/2607.01684/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile sensing can substantially improve contact-rich robotic manipulation, yet its practical deployment remains limited by the fragility, calibration requirements, and maintenance burden of tactile hardware. This raises a fundamental question: can robots benefit from tactile knowledge without requiring tactile sensors at deployment? We present TacImag, a tactile imagination framework that predicts tactile observations from vision and proprioception and uses the generated signals to guide manipulation policies. Trained from paired visuotactile demonstrations, TacImag enables touch-informed ma","authors_text":"Adeesh Desai, Bihao Zhang, Davood Soleymanzadeh, Jiuzhou Lei, Jyun-Chi Hu, Minghui Zheng, Quan Khanh Luu, Yosuke Saka, Yu She, Zhiyuan Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T04:27:11Z","title":"Imagining the Sense of Touch: Touch-Informed Manipulation via Imagined Tactile Representations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.01684","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":"sha256:06d8c4933120301d54d8ee3e3841e71d221aca9ea565a44625a14fe7ae3ce213","target":"record","created_at":"2026-07-03T01:17:26Z","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":"35af13cd83769471439c79de887c4394ebb580eb44ed5595f7606f741fb9925b","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T04:27:11Z","title_canon_sha256":"709f4d8e50399c169d51a86b33fdc4e27b2b83ea500a9aceace792dc5e506245"},"schema_version":"1.0","source":{"id":"2607.01684","kind":"arxiv","version":1}},"canonical_sha256":"68e6dfde06f6ac58a8426067ae78a8dfde918cb35eabcedc24cf0a2ce17ab026","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"68e6dfde06f6ac58a8426067ae78a8dfde918cb35eabcedc24cf0a2ce17ab026","first_computed_at":"2026-07-03T01:17:26.706999Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-03T01:17:26.706999Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hgUS0haJDYcET5Zo//VJg9SbQ0oNIjWYy332YkRvsQylr0ZT1MGH5kqrEiyyEj3gHhTdLqBumWMjOvMNxwO0AA==","signature_status":"signed_v1","signed_at":"2026-07-03T01:17:26.707680Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.01684","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:06d8c4933120301d54d8ee3e3841e71d221aca9ea565a44625a14fe7ae3ce213","sha256:048a416d51a858640d222af69d7e6cbcd0ca5feb6e44f118b600e94708217864"],"state_sha256":"66b8d2a755d890d9d988620b74809559b09a89e552530d1b60e5f70b2ae56b2b"}