Pith Number

pith:IHJWDOHZ

pith:2026:IHJWDOHZIDHUGEBODHY5UP2RAJ

not attested not anchored not stored refs pending

FingerEye: Learning Dexterous Manipulation with Continuous Vision-Tactile Sensing

Lin Shao, Tianyu Qiu, Xuanye Wu, Yichen Li, Zhixuan Xu

FingerEye combines binocular cameras and a marker-tracked compliant ring to create one continuous perception stream from vision to tactile wrench estimates.

arxiv:2604.20689 v3 · 2026-04-22 · 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{IHJWDOHZIDHUGEBODHY5UP2RAJ}

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.

Claims

C1strongest claim

FingerEye integrates binocular RGB cameras for close-range visual perception with implicit stereo depth and marker-based pose estimation on a compliant ring to serve as a proxy for contact wrench sensing, enabling a perception stream that smoothly transitions from pre-contact visual cues to post-contact tactile feedback and supporting vision-tactile imitation learning for dexterous manipulation.

C2weakest assumption

That deformations captured via marker-based pose estimation on the compliant ring structure provide a sufficiently accurate and general proxy for full contact wrench (forces and torques) across diverse interaction regimes without significant limitations from material properties, calibration drift, or range constraints.

C3one line summary

FingerEye delivers continuous vision-tactile sensing via binocular RGB cameras and marker-tracked compliant ring deformation, supporting imitation learning policies that generalize across object variations for tasks like coin standing and syringe manipulation.

Receipt and verification

First computed	2026-06-09T01:05:17.625247Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

41d361b8f940cf43102e19f1da3f51024818577628f919c37c4a9698c7b76779

Aliases

arxiv: 2604.20689 · arxiv_version: 2604.20689v3 · doi: 10.48550/arxiv.2604.20689 · pith_short_12: IHJWDOHZIDHU · pith_short_16: IHJWDOHZIDHUGEBO · pith_short_8: IHJWDOHZ

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/IHJWDOHZIDHUGEBODHY5UP2RAJ \
  | 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: 41d361b8f940cf43102e19f1da3f51024818577628f919c37c4a9698c7b76779

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "d17ec60c5b3beda447887ef161de6d65a76792bddc5c53517ee45b34e1de996e",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-22T15:37:34Z",
    "title_canon_sha256": "ceef7885fca76c712882b4947e211b351b5eaa9825195390bcf7ba518b500d78"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.20689",
    "kind": "arxiv",
    "version": 3
  }
}