Pith Number

pith:VJWSS2BC

pith:2026:VJWSS2BCW3VIU2AKEAG2KLFYKL

not attested not anchored not stored refs pending

TACO: TActile World Model as a Self-COrrector forScalable VLA Post-Training

Boxin Shi, Jiaming Liu, Qiuxuan Feng, Shanghang Zhang, Shengbang Liu, Shiji Zhou, Xinran Zhang, Yandong Guo, Yueru Jia, Yuyang Yan

arxiv:2607.02840 v1 · 2026-07-03 · 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{VJWSS2BCW3VIU2AKEAG2KLFYKL}

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	2026-07-07T00:16:20.138531Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

aa6d296822b6ea8a680a200da52cb852d6e43f4b9ff26110f5743d2725faef6b

Aliases

arxiv: 2607.02840 · arxiv_version: 2607.02840v1 · doi: 10.48550/arxiv.2607.02840 · pith_short_12: VJWSS2BCW3VI · pith_short_16: VJWSS2BCW3VIU2AK · pith_short_8: VJWSS2BC

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/VJWSS2BCW3VIU2AKEAG2KLFYKL \
  | 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: aa6d296822b6ea8a680a200da52cb852d6e43f4b9ff26110f5743d2725faef6b

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e411dc49a1d17ec730b4b9ccde4e58ec03a63dd679fd834afa5b717a6dda2aff",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-07-03T00:23:30Z",
    "title_canon_sha256": "dbb1ea0fff3a57e7ec72bdac0db36547ff9d38fe9ceb066cfe33fb396cef255f"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2607.02840",
    "kind": "arxiv",
    "version": 1
  }
}