Paper Citation Record · LEDGER

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features

As of 21 August 2026, this Paper Citation Record lists 25 of 25 outbound references and 1 inbound Pith citation observation for arXiv:2508.06566.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2508.06566 v1

Coverage vector

measured 25 of 25 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-05T23:40:45.752936Z

measured 26 of 26 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-21T06:32:19.484+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-05T06:00:14.786778Z

measured 1 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-08-10T05:30:23.456663Z

Reference resolution

25 of 25 outbound references displayed

verified exact1
verified fuzzy9
unresolved15
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

0
pith, observed 2026-08-10T05:30:23.456663Z

Outbound references

Observation 59e095d5-f587-4665-b939-42ef22edfffa · outbound

This paper cites Very Deep Convolutional Networks for Large-Scale Image Recognition.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Very Deep Convolutional Networks for Large-Scale Image Recognition

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-05T23:40:45.659557Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b2fc6401-6694-492c-b942-001d4b7bd6b8 · outbound

This paper cites An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-05T23:40:45.664409Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f9795af4-ba05-46cc-98f4-fc48cdb50f36 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 3

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.102930Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 75348406-18a3-417b-9f5d-992875f6f26b · outbound

This paper cites Learning Robust Grasping Strategy Through Tactile Sensing and Adaption Skill.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Learning Robust Grasping Strategy Through Tactile Sensing and Adaption Skill

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-08-05T23:40:45.808093Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 9088e348-a337-415d-a4ea-64c79d70a420 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 5

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.090757Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 89452d78-3ce0-4d2d-ba32-3c9585550068 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 6

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.078189Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 10cd8655-c628-4a65-9309-f944351e049c · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 7

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.066139Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 36e53245-d049-4f47-9e92-35b1e61de254 · outbound

This paper cites Srivastava and R.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Srivastava and R

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:46.053463Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 797f8b40-28ff-4678-83d3-81b6eef1c9dc · outbound

This paper cites Nagrani, S.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Nagrani, S

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:46.040404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation de68f941-3f95-41f6-a201-2c8696b74684 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 10

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.027885Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 5658fb03-b28c-4b45-a536-8a11092facd9 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 11

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:46.015476Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 7e5acea8-ebe8-4226-aa77-ad267d41bd8e · outbound

This paper cites Calandra, A.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Calandra, A

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:46.003255Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 70f565f2-5438-4115-b5be-467b921b9dd9 · outbound

This paper cites Miller and P.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Miller and P

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.991135Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 6c9e38c6-f1dc-42dc-8389-465812717f25 · outbound

This paper cites Struckmeier, K.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Struckmeier, K

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.978488Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 176d5a09-e994-4a80-b8cc-c2006e583083 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 15

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:45.965871Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 2422f108-1173-480a-9d9b-0afa1d279101 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:45.953425Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 489858be-97f9-44da-8d45-f3949c2d06eb · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 17

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:45.940287Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 2ffd7953-b389-4747-9999-a5b3a2eae43a · outbound

This paper cites Radford, J.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Radford, J

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.927328Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 47b8a88a-4825-486f-822d-8eae4699c13f · outbound

This paper cites Touch and Go: Learning from Human-Collected Vision and Touch.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Touch and Go: Learning from Human-Collected Vision and Touch

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-05T23:40:45.730956Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 127397fe-ce5b-4cff-82b7-f8395aeec61f · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 20

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:45.912819Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 6f89b214-0be3-4df0-ac28-3e0c15147aa6 · outbound

This paper cites an unresolved cited work.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Unresolved cited work

Reference 21

Resolution: unresolved; raw_fallback, observed 2026-08-05T23:40:45.900223Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 55d51656-1ee5-4d7a-aa3f-bf961dec8361 · outbound

This paper cites Breiman, ``Random forests,'' Machine learning, vol.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Breiman, ``Random forests,'' Machine learning, vol

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.887290Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation d232f9f8-52ed-4ce7-a58c-56cc01ccb674 · outbound

This paper cites Chen and C.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Chen and C

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.873382Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 4777eefb-08d8-43b8-9d63-731243d59fcb · outbound

This paper cites Cortes and V.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Cortes and V

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T23:40:45.860817Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 723912c6-15e3-401d-b684-183965269b91 · outbound

This paper cites Vaswani, N.

Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features Vaswani, N

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-05T23:40:45.752936Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 90a39ecc-a9ff-4eca-bf9d-8a13bca83ec9 · inbound

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision cites this paper.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features

Reference 1

Resolution: verified exact; local_arxiv, observed 2026-08-05T06:00:14.885388Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.