{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:UYBUTX6BYHOZ4LH3ILK3JYSQKE","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":"bdddc188059a1ae052ec38e8278a441b1485cd173d91fed2eb4908965f0e69a1","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T18:59:07Z","title_canon_sha256":"3473b1627ced70f12f5d5a13d77648a30f42bcb315f4a5f15a83aefcac1cc30e"},"schema_version":"1.0","source":{"id":"2502.17432","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.17432","created_at":"2026-07-05T10:53:52Z"},{"alias_kind":"arxiv_version","alias_value":"2502.17432v2","created_at":"2026-07-05T10:53:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.17432","created_at":"2026-07-05T10:53:52Z"},{"alias_kind":"pith_short_12","alias_value":"UYBUTX6BYHOZ","created_at":"2026-07-05T10:53:52Z"},{"alias_kind":"pith_short_16","alias_value":"UYBUTX6BYHOZ4LH3","created_at":"2026-07-05T10:53:52Z"},{"alias_kind":"pith_short_8","alias_value":"UYBUTX6B","created_at":"2026-07-05T10:53:52Z"}],"graph_snapshots":[{"event_id":"sha256:e53179cda5c08fa9a516b0be730bf965caff5e94cae43d305db0f5663a878c2a","target":"graph","created_at":"2026-07-05T10:53:52Z","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/2502.17432/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Many contact-rich tasks humans perform, such as box pickup or rolling dough, rely on force feedback for reliable execution. However, this force information, which is readily available in most robot arms, is not commonly used in teleoperation and policy learning. Consequently, robot behavior is often limited to quasi-static kinematic tasks that do not require intricate force-feedback. In this paper, we first present a low-cost, intuitive, bilateral teleoperation setup that relays external forces of the follower arm back to the teacher arm, facilitating data collection for complex, contact-rich ","authors_text":"Deepak Pathak, Jason Jingzhou Liu, Kenneth Shaw, Ruslan Salakhutdinov, Tony Tao, Yulong Li","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T18:59:07Z","title":"FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.17432","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":"sha256:72df75e0b321ef27eb54e972b86258ea1898610cfdc94cc2463a8618d24602c6","target":"record","created_at":"2026-07-05T10:53:52Z","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":"bdddc188059a1ae052ec38e8278a441b1485cd173d91fed2eb4908965f0e69a1","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-02-24T18:59:07Z","title_canon_sha256":"3473b1627ced70f12f5d5a13d77648a30f42bcb315f4a5f15a83aefcac1cc30e"},"schema_version":"1.0","source":{"id":"2502.17432","kind":"arxiv","version":2}},"canonical_sha256":"a60349dfc1c1dd9e2cfb42d5b4e250511d25baf617262236d939b622ff5aabc2","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a60349dfc1c1dd9e2cfb42d5b4e250511d25baf617262236d939b622ff5aabc2","first_computed_at":"2026-07-05T10:53:52.650926Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:53:52.650926Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4z66e1zR19ky0j7Ozzb2T1XVDdiIUTVjvhbYT2tyUfWc1GZPXz5czICI5VDeoppwCXDnOmTeSSTN4GWQNqTbAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:53:52.651488Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.17432","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:72df75e0b321ef27eb54e972b86258ea1898610cfdc94cc2463a8618d24602c6","sha256:e53179cda5c08fa9a516b0be730bf965caff5e94cae43d305db0f5663a878c2a"],"state_sha256":"fda42cde2d3a5331e38de2c5c9df4a88b89a38af5d77c9f5b000f9cdc69bccd3"}