{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:QEFRFXWNDLAOEK2DGLAUHQPDSM","short_pith_number":"pith:QEFRFXWN","canonical_record":{"source":{"id":"2311.01248","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-02T14:02:42Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a5b3725f11bc8ea661b3c6084a80aaef499b273311e87ead490257591cec0991","abstract_canon_sha256":"30c4e19edc383b6448b793442c369717dfead3e677ebc8133816b177d815768c"},"schema_version":"1.0"},"canonical_sha256":"810b12decd1ac0e22b4332c143c1e39300ed83264a8d2df8492dff7e0fd3bb9f","source":{"kind":"arxiv","id":"2311.01248","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.01248","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"arxiv_version","alias_value":"2311.01248v5","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.01248","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_12","alias_value":"QEFRFXWNDLAO","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_16","alias_value":"QEFRFXWNDLAOEK2D","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_8","alias_value":"QEFRFXWN","created_at":"2026-07-05T10:05:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:QEFRFXWNDLAOEK2DGLAUHQPDSM","target":"record","payload":{"canonical_record":{"source":{"id":"2311.01248","kind":"arxiv","version":5},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-02T14:02:42Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"a5b3725f11bc8ea661b3c6084a80aaef499b273311e87ead490257591cec0991","abstract_canon_sha256":"30c4e19edc383b6448b793442c369717dfead3e677ebc8133816b177d815768c"},"schema_version":"1.0"},"canonical_sha256":"810b12decd1ac0e22b4332c143c1e39300ed83264a8d2df8492dff7e0fd3bb9f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:05:07.947302Z","signature_b64":"eA73Xr4VkTFihEu8kpnfVTDH7rVfFNaqhUK3q62CGm1Us2+wse5cHvL6r+QPIOiLTsS7OM6Op8oe8w0UA5ZrCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"810b12decd1ac0e22b4332c143c1e39300ed83264a8d2df8492dff7e0fd3bb9f","last_reissued_at":"2026-07-05T10:05:07.946885Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:05:07.946885Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2311.01248","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:05:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AgQsq3GYgmXecR0Hpf7ElGbKQVjnVb41+14yL0dcyDUDnoGTcS7nEVP1VjLqVgc/wstF4s+qhWZxCs/r+s4JAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T00:14:56.378842Z"},"content_sha256":"c3a1e3f7001ff64fd0b72a0d3af914aa7cca28e3bc44441f91e517aaaf3a9e09","schema_version":"1.0","event_id":"sha256:c3a1e3f7001ff64fd0b72a0d3af914aa7cca28e3bc44441f91e517aaaf3a9e09"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:QEFRFXWNDLAOEK2DGLAUHQPDSM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Adam Sigal, Affan Jilani, Francois Hogan, Gregory Dudek, Jonathan Kelly, Kaleem Siddiqi, Oliver Limoyo, Trevor Ablett","submitted_at":"2023-11-02T14:02:42Z","abstract_excerpt":"Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learning (IL) to perform contact-rich tasks that involve relative motion (e.g., slipping and sliding) between the end-effector and the manipulated object. We introduce two algorithmic contributions, tactile force matching and learned mode switching, as complimentary methods for improving IL. Tactile force matching enhances kinesthetic teaching by reading approximate forces during the demonstration and generating an adapted"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.01248","kind":"arxiv","version":5},"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/2311.01248/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":"2026-07-05T10:05:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"DTzwikCw7OgqLaQR2EyIwd3bJ3oBpNWTT/wTAzJUGAyqUjIIPmie+AxYl8u8Y01zV4I10L10iuyGZu5d+mQQDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T00:14:56.379654Z"},"content_sha256":"0f3019a0bc9f1433575926dc24f576154fc87dd269279c82f41fb681e887737e","schema_version":"1.0","event_id":"sha256:0f3019a0bc9f1433575926dc24f576154fc87dd269279c82f41fb681e887737e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/bundle.json","state_url":"https://pith.science/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/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":"2026-08-05T00:14:56Z","links":{"resolver":"https://pith.science/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM","bundle":"https://pith.science/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/bundle.json","state":"https://pith.science/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QEFRFXWNDLAOEK2DGLAUHQPDSM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:QEFRFXWNDLAOEK2DGLAUHQPDSM","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":"30c4e19edc383b6448b793442c369717dfead3e677ebc8133816b177d815768c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-02T14:02:42Z","title_canon_sha256":"a5b3725f11bc8ea661b3c6084a80aaef499b273311e87ead490257591cec0991"},"schema_version":"1.0","source":{"id":"2311.01248","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2311.01248","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"arxiv_version","alias_value":"2311.01248v5","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2311.01248","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_12","alias_value":"QEFRFXWNDLAO","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_16","alias_value":"QEFRFXWNDLAOEK2D","created_at":"2026-07-05T10:05:07Z"},{"alias_kind":"pith_short_8","alias_value":"QEFRFXWN","created_at":"2026-07-05T10:05:07Z"}],"graph_snapshots":[{"event_id":"sha256:0f3019a0bc9f1433575926dc24f576154fc87dd269279c82f41fb681e887737e","target":"graph","created_at":"2026-07-05T10:05:07Z","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/2311.01248/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Contact-rich tasks continue to present many challenges for robotic manipulation. In this work, we leverage a multimodal visuotactile sensor within the framework of imitation learning (IL) to perform contact-rich tasks that involve relative motion (e.g., slipping and sliding) between the end-effector and the manipulated object. We introduce two algorithmic contributions, tactile force matching and learned mode switching, as complimentary methods for improving IL. Tactile force matching enhances kinesthetic teaching by reading approximate forces during the demonstration and generating an adapted","authors_text":"Adam Sigal, Affan Jilani, Francois Hogan, Gregory Dudek, Jonathan Kelly, Kaleem Siddiqi, Oliver Limoyo, Trevor Ablett","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-02T14:02:42Z","title":"Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2311.01248","kind":"arxiv","version":5},"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:c3a1e3f7001ff64fd0b72a0d3af914aa7cca28e3bc44441f91e517aaaf3a9e09","target":"record","created_at":"2026-07-05T10:05:07Z","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":"30c4e19edc383b6448b793442c369717dfead3e677ebc8133816b177d815768c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-11-02T14:02:42Z","title_canon_sha256":"a5b3725f11bc8ea661b3c6084a80aaef499b273311e87ead490257591cec0991"},"schema_version":"1.0","source":{"id":"2311.01248","kind":"arxiv","version":5}},"canonical_sha256":"810b12decd1ac0e22b4332c143c1e39300ed83264a8d2df8492dff7e0fd3bb9f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"810b12decd1ac0e22b4332c143c1e39300ed83264a8d2df8492dff7e0fd3bb9f","first_computed_at":"2026-07-05T10:05:07.946885Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:05:07.946885Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eA73Xr4VkTFihEu8kpnfVTDH7rVfFNaqhUK3q62CGm1Us2+wse5cHvL6r+QPIOiLTsS7OM6Op8oe8w0UA5ZrCw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:05:07.947302Z","signed_message":"canonical_sha256_bytes"},"source_id":"2311.01248","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c3a1e3f7001ff64fd0b72a0d3af914aa7cca28e3bc44441f91e517aaaf3a9e09","sha256:0f3019a0bc9f1433575926dc24f576154fc87dd269279c82f41fb681e887737e"],"state_sha256":"d2c4c35c87df2791da1b5eda0822802dd2e832398bc63437685fdaed0300ae84"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IqiardW/op2uJlwTi23myGKCwAYOdogkgZwox4G1FnLMnKFoufbSE27qj+C8hIWPmMTp0WlfW656CogOkJKwCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T00:14:56.387061Z","bundle_sha256":"dfdeb4b8d45c2dd099efb497b6f11b0cacba47eeafb3170931f4fcd4d58848a1"}}