{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:ZPCPZAKGXGZHB3QYIGFRH34NMC","short_pith_number":"pith:ZPCPZAKG","canonical_record":{"source":{"id":"2510.20390","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-23T09:38:50Z","cross_cats_sorted":[],"title_canon_sha256":"ac2f97b582c07891e84e5a5fb96cf68f5a38d455b0bfa3e8ef5e2a899b9bac11","abstract_canon_sha256":"e4cc731057ce4b22b2023b96fe5baffa07b89bcfecb208dcf63f2594b0a643a5"},"schema_version":"1.0"},"canonical_sha256":"cbc4fc8146b9b270ee18418b13ef8d60899ded7e0634459b1be25324fbccef1f","source":{"kind":"arxiv","id":"2510.20390","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.20390","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"arxiv_version","alias_value":"2510.20390v2","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.20390","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_12","alias_value":"ZPCPZAKGXGZH","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_16","alias_value":"ZPCPZAKGXGZHB3QY","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_8","alias_value":"ZPCPZAKG","created_at":"2026-05-26T02:03:58Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:ZPCPZAKGXGZHB3QYIGFRH34NMC","target":"record","payload":{"canonical_record":{"source":{"id":"2510.20390","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-23T09:38:50Z","cross_cats_sorted":[],"title_canon_sha256":"ac2f97b582c07891e84e5a5fb96cf68f5a38d455b0bfa3e8ef5e2a899b9bac11","abstract_canon_sha256":"e4cc731057ce4b22b2023b96fe5baffa07b89bcfecb208dcf63f2594b0a643a5"},"schema_version":"1.0"},"canonical_sha256":"cbc4fc8146b9b270ee18418b13ef8d60899ded7e0634459b1be25324fbccef1f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-26T02:03:58.444756Z","signature_b64":"Jm1l8EiBQ8fNMfHwBASDDzicCgMJOFgOPGpQwMf0u5xAdjbG8SRRREsw/E5RhJo1TQ64zZEJUB7S5MC5Ux/lCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cbc4fc8146b9b270ee18418b13ef8d60899ded7e0634459b1be25324fbccef1f","last_reissued_at":"2026-05-26T02:03:58.443925Z","signature_status":"signed_v1","first_computed_at":"2026-05-26T02:03:58.443925Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2510.20390","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-26T02:03:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vG7rq5Y9kgrb2udg37rUDg1PF/UFcEJyBwUOMQjpYfRtCWGqOOZ632pB2KvQAv9x3kEk/dUOsiYZLpxK0Vo8BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T23:14:42.574999Z"},"content_sha256":"88e0aaf2710b416c6aa9d9abf350c33a785c8ab247659f8c8a1c8dc7f4ec51ae","schema_version":"1.0","event_id":"sha256:88e0aaf2710b416c6aa9d9abf350c33a785c8ab247659f8c8a1c8dc7f4ec51ae"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:ZPCPZAKGXGZHB3QYIGFRH34NMC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bowen Deng, Chenghua Lu, Efi Psomopoulou, Keju Pu, Max Yang, Nathan F. Lepora, Yijiong Lin","submitted_at":"2025-10-23T09:38:50Z","abstract_excerpt":"Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping poses that generalize across object categories. However, NDF alone can produce inaccurate poses due to imperfect camera calibration, incomplete point clouds, and object variability. Meanwhile, tactile sensing enables more precise contact, but existing approaches typically learn policies limited to simple, predefined contact geometries. In this work, we introduc"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.20390","kind":"arxiv","version":2},"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/2510.20390/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":"2026-05-26T02:03:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1416vgExXgPaDTWwHQYYLf3XSgzobzM2XKV4jcikp+ysCKicbeP9jbUR9uGWjiMXzmFm8WACWuU8oQ++v3PMAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T23:14:42.575803Z"},"content_sha256":"ba260a97c1ef4aa80bed36011a0208e6097f4643a76cdf8764b5aef7013c9a81","schema_version":"1.0","event_id":"sha256:ba260a97c1ef4aa80bed36011a0208e6097f4643a76cdf8764b5aef7013c9a81"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/bundle.json","state_url":"https://pith.science/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/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":"2026-06-11T23:14:42Z","links":{"resolver":"https://pith.science/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC","bundle":"https://pith.science/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/bundle.json","state":"https://pith.science/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZPCPZAKGXGZHB3QYIGFRH34NMC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:ZPCPZAKGXGZHB3QYIGFRH34NMC","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":"e4cc731057ce4b22b2023b96fe5baffa07b89bcfecb208dcf63f2594b0a643a5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-23T09:38:50Z","title_canon_sha256":"ac2f97b582c07891e84e5a5fb96cf68f5a38d455b0bfa3e8ef5e2a899b9bac11"},"schema_version":"1.0","source":{"id":"2510.20390","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2510.20390","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"arxiv_version","alias_value":"2510.20390v2","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2510.20390","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_12","alias_value":"ZPCPZAKGXGZH","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_16","alias_value":"ZPCPZAKGXGZHB3QY","created_at":"2026-05-26T02:03:58Z"},{"alias_kind":"pith_short_8","alias_value":"ZPCPZAKG","created_at":"2026-05-26T02:03:58Z"}],"graph_snapshots":[{"event_id":"sha256:ba260a97c1ef4aa80bed36011a0208e6097f4643a76cdf8764b5aef7013c9a81","target":"graph","created_at":"2026-05-26T02:03:58Z","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/2510.20390/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping accuracy is a critical prerequisite for precise object manipulation, often requiring careful alignment between the robot hand and object. Neural Descriptor Fields (NDF) offer a promising vision-based method to generate grasping poses that generalize across object categories. However, NDF alone can produce inaccurate poses due to imperfect camera calibration, incomplete point clouds, and object variability. Meanwhile, tactile sensing enables more precise contact, but existing approaches typically learn policies limited to simple, predefined contact geometries. In this work, we introduc","authors_text":"Bowen Deng, Chenghua Lu, Efi Psomopoulou, Keju Pu, Max Yang, Nathan F. Lepora, Yijiong Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-23T09:38:50Z","title":"NeuralTouch: Neural Descriptors for Precise Sim-to-Real Tactile Robot Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2510.20390","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":"sha256:88e0aaf2710b416c6aa9d9abf350c33a785c8ab247659f8c8a1c8dc7f4ec51ae","target":"record","created_at":"2026-05-26T02:03:58Z","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":"e4cc731057ce4b22b2023b96fe5baffa07b89bcfecb208dcf63f2594b0a643a5","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-10-23T09:38:50Z","title_canon_sha256":"ac2f97b582c07891e84e5a5fb96cf68f5a38d455b0bfa3e8ef5e2a899b9bac11"},"schema_version":"1.0","source":{"id":"2510.20390","kind":"arxiv","version":2}},"canonical_sha256":"cbc4fc8146b9b270ee18418b13ef8d60899ded7e0634459b1be25324fbccef1f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cbc4fc8146b9b270ee18418b13ef8d60899ded7e0634459b1be25324fbccef1f","first_computed_at":"2026-05-26T02:03:58.443925Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-26T02:03:58.443925Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Jm1l8EiBQ8fNMfHwBASDDzicCgMJOFgOPGpQwMf0u5xAdjbG8SRRREsw/E5RhJo1TQ64zZEJUB7S5MC5Ux/lCA==","signature_status":"signed_v1","signed_at":"2026-05-26T02:03:58.444756Z","signed_message":"canonical_sha256_bytes"},"source_id":"2510.20390","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:88e0aaf2710b416c6aa9d9abf350c33a785c8ab247659f8c8a1c8dc7f4ec51ae","sha256:ba260a97c1ef4aa80bed36011a0208e6097f4643a76cdf8764b5aef7013c9a81"],"state_sha256":"65ab8fa13d8a505ca31c2684f8e3099ad1d2a175a8a4babf1cae4c4d44044231"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Dc35gSWBUexa1O+qMNv4tTUhP5MNHACpM2Lly7Tp+K/jdXn2YFvmUjKyskRq5m9/siCIOfrVNJmHjqBzSngoCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T23:14:42.580122Z","bundle_sha256":"95a715ab639b2ffa530094cb9b9f6259ac2d1b2b76ac6173d83a2d0e22f72241"}}