{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:XJJ2BPOAKQAY5QJ5O4M6TLLEQV","short_pith_number":"pith:XJJ2BPOA","canonical_record":{"source":{"id":"2606.24450","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T11:36:46Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"cd25c177b1b1d04d2085decde85af43ef615b90b8dd2fabd40075c75ac71070e","abstract_canon_sha256":"156c474f64a71b0399f84524a7d3a3c4531de89e83f230075ec0a43faa25dcdf"},"schema_version":"1.0"},"canonical_sha256":"ba53a0bdc054018ec13d7719e9ad648559f166b7f58ce288bfa7972546393ca7","source":{"kind":"arxiv","id":"2606.24450","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24450","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24450v1","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24450","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_12","alias_value":"XJJ2BPOAKQAY","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_16","alias_value":"XJJ2BPOAKQAY5QJ5","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_8","alias_value":"XJJ2BPOA","created_at":"2026-06-24T01:15:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:XJJ2BPOAKQAY5QJ5O4M6TLLEQV","target":"record","payload":{"canonical_record":{"source":{"id":"2606.24450","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T11:36:46Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"cd25c177b1b1d04d2085decde85af43ef615b90b8dd2fabd40075c75ac71070e","abstract_canon_sha256":"156c474f64a71b0399f84524a7d3a3c4531de89e83f230075ec0a43faa25dcdf"},"schema_version":"1.0"},"canonical_sha256":"ba53a0bdc054018ec13d7719e9ad648559f166b7f58ce288bfa7972546393ca7","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-24T01:15:30.745697Z","signature_b64":"QdumxUFAmtAgicbyX0myUTuGmmYQV9+CsKzUQAxnsfRrfLC7/h+YL1H4UJYxzzmC1YXvnGpTTx1TIN+LriH2Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ba53a0bdc054018ec13d7719e9ad648559f166b7f58ce288bfa7972546393ca7","last_reissued_at":"2026-06-24T01:15:30.745338Z","signature_status":"signed_v1","first_computed_at":"2026-06-24T01:15:30.745338Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.24450","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-24T01:15:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zCVFmJCkjQtKtJOUu4l01bucQzvrmNYZIfn3UtLck/8FWKiRB6otG0fyy0Vq6Vjy8HsVtaYz9HGwpTkyOjISBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T13:23:59.898286Z"},"content_sha256":"78ed078c5180cb5eadf7f078b66656c787c6e47cabb108409f1e4e9796335cf8","schema_version":"1.0","event_id":"sha256:78ed078c5180cb5eadf7f078b66656c787c6e47cabb108409f1e4e9796335cf8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:XJJ2BPOAKQAY5QJ5O4M6TLLEQV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Avirup Das, Soham Patil, Sourabh Bhosale, Spandan Roy","submitted_at":"2026-06-23T11:36:46Z","abstract_excerpt":"Perceiving physical contact is fundamental to dexterous manipulation. While robots often rely on dedicated hardware tactile sensors, humans exhibit a remarkable ability to infer contact by integrating visual information with an innate sense of their body's pose and movement. Inspired by this embodied perceptual skill, we investigate whether a robot can learn to infer contact from vision, an approach that also offers a scalable alternative to tactile hardware specifically for binary contact estimation, which faces practical challenges in cost, fragility, and integration. We present NoContactNoW"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24450","kind":"arxiv","version":1},"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/2606.24450/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":"2026-06-24T01:15:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Jk6cufOsS+sKFQ7T7fwRSlj1u5rO/Bn2SEGzFiA+UVFfd6ztx+zD0yOKe+wiX84yf5//pqCJd0MKz58cv9lVBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T13:23:59.898678Z"},"content_sha256":"2a8b45b84020577a744891612b9891e736c4b4b94658525a7cc37e4a7d3f15af","schema_version":"1.0","event_id":"sha256:2a8b45b84020577a744891612b9891e736c4b4b94658525a7cc37e4a7d3f15af"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/bundle.json","state_url":"https://pith.science/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/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":"2026-07-02T13:23:59Z","links":{"resolver":"https://pith.science/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV","bundle":"https://pith.science/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/bundle.json","state":"https://pith.science/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XJJ2BPOAKQAY5QJ5O4M6TLLEQV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XJJ2BPOAKQAY5QJ5O4M6TLLEQV","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":"156c474f64a71b0399f84524a7d3a3c4531de89e83f230075ec0a43faa25dcdf","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T11:36:46Z","title_canon_sha256":"cd25c177b1b1d04d2085decde85af43ef615b90b8dd2fabd40075c75ac71070e"},"schema_version":"1.0","source":{"id":"2606.24450","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24450","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24450v1","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24450","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_12","alias_value":"XJJ2BPOAKQAY","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_16","alias_value":"XJJ2BPOAKQAY5QJ5","created_at":"2026-06-24T01:15:30Z"},{"alias_kind":"pith_short_8","alias_value":"XJJ2BPOA","created_at":"2026-06-24T01:15:30Z"}],"graph_snapshots":[{"event_id":"sha256:2a8b45b84020577a744891612b9891e736c4b4b94658525a7cc37e4a7d3f15af","target":"graph","created_at":"2026-06-24T01:15:30Z","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/2606.24450/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Perceiving physical contact is fundamental to dexterous manipulation. While robots often rely on dedicated hardware tactile sensors, humans exhibit a remarkable ability to infer contact by integrating visual information with an innate sense of their body's pose and movement. Inspired by this embodied perceptual skill, we investigate whether a robot can learn to infer contact from vision, an approach that also offers a scalable alternative to tactile hardware specifically for binary contact estimation, which faces practical challenges in cost, fragility, and integration. We present NoContactNoW","authors_text":"Avirup Das, Soham Patil, Sourabh Bhosale, Spandan Roy","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T11:36:46Z","title":"NoContactNoWorries: Estimating Contact through Vision and Proprioception for In-Hand Dexterous Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24450","kind":"arxiv","version":1},"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":"sha256:78ed078c5180cb5eadf7f078b66656c787c6e47cabb108409f1e4e9796335cf8","target":"record","created_at":"2026-06-24T01:15:30Z","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":"156c474f64a71b0399f84524a7d3a3c4531de89e83f230075ec0a43faa25dcdf","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T11:36:46Z","title_canon_sha256":"cd25c177b1b1d04d2085decde85af43ef615b90b8dd2fabd40075c75ac71070e"},"schema_version":"1.0","source":{"id":"2606.24450","kind":"arxiv","version":1}},"canonical_sha256":"ba53a0bdc054018ec13d7719e9ad648559f166b7f58ce288bfa7972546393ca7","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ba53a0bdc054018ec13d7719e9ad648559f166b7f58ce288bfa7972546393ca7","first_computed_at":"2026-06-24T01:15:30.745338Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-24T01:15:30.745338Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QdumxUFAmtAgicbyX0myUTuGmmYQV9+CsKzUQAxnsfRrfLC7/h+YL1H4UJYxzzmC1YXvnGpTTx1TIN+LriH2Ag==","signature_status":"signed_v1","signed_at":"2026-06-24T01:15:30.745697Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.24450","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:78ed078c5180cb5eadf7f078b66656c787c6e47cabb108409f1e4e9796335cf8","sha256:2a8b45b84020577a744891612b9891e736c4b4b94658525a7cc37e4a7d3f15af"],"state_sha256":"67d3bbb37138f1ae9a2a5b74c3eb80d03908c77a6981dda867f7207cb35a6911"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EavF/AQJa6kEF7MYA7ZZu7FrQ4fCmamvEdYq6l98L9gq1FtDEsZ7ZcgtqmueUnL+xQCPQ74zIiAffotGrAvWAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T13:23:59.900608Z","bundle_sha256":"fa3be96f7ecdb28cd8e8aadb71605a17972f1e20d20b3fed9cac807a1c4dac4b"}}