Pith Number

pith:OVTTXN3A

pith:2026:OVTTXN3ALXVU533IQIWVSA6IZG

not attested not anchored not stored refs pending

PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation

Akash Sharma, Francois R Hogan, Jitendra Malik, Michael Kaess, Mustafa Mukadam, Rosy Chen, Tingfan Wu

PTLD distills real-world privileged tactile data into a state estimator that improves sim-trained proprioceptive policies for dexterous manipulation.

arxiv:2603.04531 v3 · 2026-03-04 · 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{OVTTXN3ALXVU533IQIWVSA6IZG}

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.

Claims

C1strongest claim

On the benchmark in-hand rotation task, PTLD achieves a 182% improvement over a proprioception only policy. We also show that PTLD enables learning the challenging task of tactile in-hand reorientation where we see a 57% improvement in the number of goals reached over using proprioception alone.

C2weakest assumption

That real-world data collected with privileged sensors can be distilled into a robust tactile state estimator that transfers effectively to improve policies trained only on proprioception in simulation, without requiring accurate tactile simulation.

C3one line summary

PTLD distills real privileged tactile data into a state estimator to boost sim-to-real performance of proprioceptive dexterous manipulation policies, yielding 182% improvement on in-hand rotation and 57% on reorientation tasks.

Formal links

2 machine-checked theorem links

Cited by

1 paper in Pith

Beyond Binary: Sim-to-Real Dexterous Manipulation with Physics-Grounded Contact Representation

Receipt and verification

First computed	2026-06-19T16:12:52.147700Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

75673bb7605deb4eef68822d5903c8c9b9a45a5448da7b01eca221cab3aee491

Aliases

arxiv: 2603.04531 · arxiv_version: 2603.04531v3 · doi: 10.48550/arxiv.2603.04531 · pith_short_12: OVTTXN3ALXVU · pith_short_16: OVTTXN3ALXVU533I · pith_short_8: OVTTXN3A

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/OVTTXN3ALXVU533IQIWVSA6IZG \
  | 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: 75673bb7605deb4eef68822d5903c8c9b9a45a5448da7b01eca221cab3aee491

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "19cf035d547f4f0360b90c60c480a02a046e3b6a8f05a1909e0dd3a75e0a9e83",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-03-04T19:17:42Z",
    "title_canon_sha256": "121bdbb8e27e00cc7bf38b8b47aabbb59e7fef63a678decfadd6e3902be0ef01"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.04531",
    "kind": "arxiv",
    "version": 3
  }
}