{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:YYXHYUKGPXVJNOJQ7QJS426MQJ","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":"d8c8837fcd25922f5138eb193e8a56c86d546ea5ab15fd620712804900db404f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-16T13:24:58Z","title_canon_sha256":"8480492c5bd2dfedf55eb37fd12adb771b9fa8756a13200ed9317615dee39fb8"},"schema_version":"1.0","source":{"id":"2603.15257","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.15257","created_at":"2026-08-04T02:00:00Z"},{"alias_kind":"arxiv_version","alias_value":"2603.15257v2","created_at":"2026-08-04T02:00:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.15257","created_at":"2026-08-04T02:00:00Z"},{"alias_kind":"pith_short_12","alias_value":"YYXHYUKGPXVJ","created_at":"2026-08-04T02:00:00Z"},{"alias_kind":"pith_short_16","alias_value":"YYXHYUKGPXVJNOJQ","created_at":"2026-08-04T02:00:00Z"},{"alias_kind":"pith_short_8","alias_value":"YYXHYUKG","created_at":"2026-08-04T02:00:00Z"}],"graph_snapshots":[{"event_id":"sha256:fae2c1f43f3114e270ff761708609c57cd490b413dc418c1486156875be756a5","target":"graph","created_at":"2026-08-04T02:00:00Z","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/2603.15257/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile sensing is a crucial capability for Vision-Language-Action (VLA) architectures, as it enables dexterous and safe manipulation in contact-rich tasks. However, reliance on dedicated tactile hardware increases cost and reduces reproducibility across robotic platforms. We argue that tactile-aware manipulation can be learned offline and deployed without direct haptic feedback at inference. To this end, we present HapticVLA, which proceeds in two tightly coupled stages: Safety-Aware Reward-Weighted Flow Matching (SA-RWFM) and Tactile Distillation (TD). SA-RWFM trains a flow-matching action e","authors_text":"Artem Asanov, Dzmitry Tsetserukou, Egor Kuznetsov, Ilya Mikhalchuk, Konstantin Gubernatorov, Makar Artemov, Marcelino Fernando, Mikhail Sannikov, Ogunwoye Faith Oluwatobi, Ziang Guo","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-16T13:24:58Z","title":"HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.15257","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":"sha256:03cf48afa17ba1d5ac4eca538bcca1ee57afe032dbb983b1f51f99f0fc7a61e7","target":"record","created_at":"2026-08-04T02:00:00Z","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":"d8c8837fcd25922f5138eb193e8a56c86d546ea5ab15fd620712804900db404f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-16T13:24:58Z","title_canon_sha256":"8480492c5bd2dfedf55eb37fd12adb771b9fa8756a13200ed9317615dee39fb8"},"schema_version":"1.0","source":{"id":"2603.15257","kind":"arxiv","version":2}},"canonical_sha256":"c62e7c51467dea96b930fc132e6bcc82699be51337d624e925cf7de4bc7c9cfc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c62e7c51467dea96b930fc132e6bcc82699be51337d624e925cf7de4bc7c9cfc","first_computed_at":"2026-08-04T02:00:00.637732Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-04T02:00:00.637732Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7WsODLVba3o2ZN3XRGJLq2JMRT94xecWSaToWwcq0GsG73JpoaPWjvqmIGSu7viyOLR/wu1br736D1Q1xlz+DQ==","signature_status":"signed_v1","signed_at":"2026-08-04T02:00:00.639720Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.15257","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:03cf48afa17ba1d5ac4eca538bcca1ee57afe032dbb983b1f51f99f0fc7a61e7","sha256:fae2c1f43f3114e270ff761708609c57cd490b413dc418c1486156875be756a5"],"state_sha256":"781f378e9ecf215da28f93b3c7cde82e6e081056a5abd1435e03315b1dee8287"}