Pith Number

pith:OY2EQQED

pith:2026:OY2EQQEDRJMKURRV63PGDSESE7

not attested not anchored not stored refs pending

FTP-1: A Generalist Foundation Tactile Policy Across Tactile Sensors for Contact-Rich Manipulation

Cewu Lu, Chengbo Yuan, Chuan Wen, Dantong Niu, Hui Zhang, Kaifeng Zhang, Mingjie Zhou, Shuo Wang, Wanli Xing, Wendi Chen, Wenkang Zhang, Yang Gao, Yingdong Hu, Yi Wang, Yuanqing Gong, Zhuoyang Liu, Zicheng Zhang

arxiv:2606.13102 v1 · 2026-06-11 · 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{OY2EQQEDRJMKURRV63PGDSESE7}

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	2026-06-12T01:09:40.271698Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

76344840838a58aa4635f6de61c89227ee3daf53d927b3bef728de198a4d7017

Aliases

arxiv: 2606.13102 · arxiv_version: 2606.13102v1 · doi: 10.48550/arxiv.2606.13102 · pith_short_12: OY2EQQEDRJMK · pith_short_16: OY2EQQEDRJMKURRV · pith_short_8: OY2EQQED

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/OY2EQQEDRJMKURRV63PGDSESE7 \
  | 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: 76344840838a58aa4635f6de61c89227ee3daf53d927b3bef728de198a4d7017

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7dc4b657f29a6e3b570510361193b94d43b53a746107caad413e78946f67bc96",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by-sa/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-11T09:30:09Z",
    "title_canon_sha256": "57e17e0396146dfd3f3fedab695ab9e6cc7385b1d50ff97525eb7ed2addb6256"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.13102",
    "kind": "arxiv",
    "version": 1
  }
}