{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:KJYG2RS3ZTWR5XEUP4WCSK64DE","short_pith_number":"pith:KJYG2RS3","canonical_record":{"source":{"id":"2312.08411","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-13T13:06:45Z","cross_cats_sorted":[],"title_canon_sha256":"69805b35102ae045c41203bf3f6ca7536aa7e490f923515d54d6ef035a328dd1","abstract_canon_sha256":"c724f789178626a65ab9c0182af55814f20534d4434f5e8404cdd6d4a68c5aee"},"schema_version":"1.0"},"canonical_sha256":"52706d465bcced1edc947f2c292bdc1934108dd705da687d49ce9ec5c061df61","source":{"kind":"arxiv","id":"2312.08411","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.08411","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"arxiv_version","alias_value":"2312.08411v1","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.08411","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_12","alias_value":"KJYG2RS3ZTWR","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_16","alias_value":"KJYG2RS3ZTWR5XEU","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_8","alias_value":"KJYG2RS3","created_at":"2026-07-05T07:24:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:KJYG2RS3ZTWR5XEUP4WCSK64DE","target":"record","payload":{"canonical_record":{"source":{"id":"2312.08411","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-13T13:06:45Z","cross_cats_sorted":[],"title_canon_sha256":"69805b35102ae045c41203bf3f6ca7536aa7e490f923515d54d6ef035a328dd1","abstract_canon_sha256":"c724f789178626a65ab9c0182af55814f20534d4434f5e8404cdd6d4a68c5aee"},"schema_version":"1.0"},"canonical_sha256":"52706d465bcced1edc947f2c292bdc1934108dd705da687d49ce9ec5c061df61","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:24:04.020826Z","signature_b64":"xIS4eb9ngNlHPbsNrwkYKBdeMfazGxzGxb1Jgmk5FFs0bu4Hr8TbRsDUGcWjD0TLKTrFh5g6P84C6vxkJY+PAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"52706d465bcced1edc947f2c292bdc1934108dd705da687d49ce9ec5c061df61","last_reissued_at":"2026-07-05T07:24:04.020332Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:24:04.020332Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2312.08411","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":"2026-07-05T07:24:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BFNaduEGcG3yhv8YqpU6xDDtbvSdmX8I9MOc2m9zP8XYwUI1wz7MepeU6xqQ5VQLlTnN+ifIa0oEtz4hQ2VeAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T05:16:59.178250Z"},"content_sha256":"3741a40988ca70bd5966a1615b720f930fc46f7a53a9829ccd02f59f82ca9ee0","schema_version":"1.0","event_id":"sha256:3741a40988ca70bd5966a1615b720f930fc46f7a53a9829ccd02f59f82ca9ee0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:KJYG2RS3ZTWR5XEUP4WCSK64DE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Pose and shear-based tactile servoing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"John Lloyd, Nathan F. Lepora","submitted_at":"2023-12-13T13:06:45Z","abstract_excerpt":"Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution soft tactile sensors is to estimate the contact pose relative to an object surface using a convolutional neural network (CNN) for use as a feedback signal. In this paper, we investigate how the surface pose estimation model can be extended to include shear, and utilize these combined pose-and-shear models to develop a tactile robotic system that can be prog"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.08411","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/2312.08411/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":"2026-07-05T07:24:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"njOY0+lR0vToSM0HAxQpegq5Ma/SbIpUughVxEUmGsAvEMbCpk2Xqx8zH2DvzykXMxf+Y0BvX9DBtgM7Bm7MCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T05:16:59.178939Z"},"content_sha256":"1914b36af49a855372a8012452e5a82fc4a2a6b27188144a3b063a2b93b64371","schema_version":"1.0","event_id":"sha256:1914b36af49a855372a8012452e5a82fc4a2a6b27188144a3b063a2b93b64371"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/bundle.json","state_url":"https://pith.science/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/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":"2026-08-19T05:16:59Z","links":{"resolver":"https://pith.science/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE","bundle":"https://pith.science/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/bundle.json","state":"https://pith.science/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KJYG2RS3ZTWR5XEUP4WCSK64DE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:KJYG2RS3ZTWR5XEUP4WCSK64DE","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":"c724f789178626a65ab9c0182af55814f20534d4434f5e8404cdd6d4a68c5aee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-13T13:06:45Z","title_canon_sha256":"69805b35102ae045c41203bf3f6ca7536aa7e490f923515d54d6ef035a328dd1"},"schema_version":"1.0","source":{"id":"2312.08411","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2312.08411","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"arxiv_version","alias_value":"2312.08411v1","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.08411","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_12","alias_value":"KJYG2RS3ZTWR","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_16","alias_value":"KJYG2RS3ZTWR5XEU","created_at":"2026-07-05T07:24:04Z"},{"alias_kind":"pith_short_8","alias_value":"KJYG2RS3","created_at":"2026-07-05T07:24:04Z"}],"graph_snapshots":[{"event_id":"sha256:1914b36af49a855372a8012452e5a82fc4a2a6b27188144a3b063a2b93b64371","target":"graph","created_at":"2026-07-05T07:24:04Z","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/2312.08411/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution soft tactile sensors is to estimate the contact pose relative to an object surface using a convolutional neural network (CNN) for use as a feedback signal. In this paper, we investigate how the surface pose estimation model can be extended to include shear, and utilize these combined pose-and-shear models to develop a tactile robotic system that can be prog","authors_text":"John Lloyd, Nathan F. Lepora","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-13T13:06:45Z","title":"Pose and shear-based tactile servoing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.08411","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":"sha256:3741a40988ca70bd5966a1615b720f930fc46f7a53a9829ccd02f59f82ca9ee0","target":"record","created_at":"2026-07-05T07:24:04Z","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":"c724f789178626a65ab9c0182af55814f20534d4434f5e8404cdd6d4a68c5aee","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2023-12-13T13:06:45Z","title_canon_sha256":"69805b35102ae045c41203bf3f6ca7536aa7e490f923515d54d6ef035a328dd1"},"schema_version":"1.0","source":{"id":"2312.08411","kind":"arxiv","version":1}},"canonical_sha256":"52706d465bcced1edc947f2c292bdc1934108dd705da687d49ce9ec5c061df61","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"52706d465bcced1edc947f2c292bdc1934108dd705da687d49ce9ec5c061df61","first_computed_at":"2026-07-05T07:24:04.020332Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:24:04.020332Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xIS4eb9ngNlHPbsNrwkYKBdeMfazGxzGxb1Jgmk5FFs0bu4Hr8TbRsDUGcWjD0TLKTrFh5g6P84C6vxkJY+PAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:24:04.020826Z","signed_message":"canonical_sha256_bytes"},"source_id":"2312.08411","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3741a40988ca70bd5966a1615b720f930fc46f7a53a9829ccd02f59f82ca9ee0","sha256:1914b36af49a855372a8012452e5a82fc4a2a6b27188144a3b063a2b93b64371"],"state_sha256":"cbd9f269835681d785780d8b5e44f4849bf00647fb7ee9137732d2b7a327ac54"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VcfdQT67dcCVi++/kGTZchRsUvXlw2ciyLe4ryeqxmomhRVAxYkD+wCem2pBaqa4Uc0gBsTutDXs/5W3tZMsAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T05:16:59.184017Z","bundle_sha256":"786a268fd37962b243bc2cc31148aaef5ab9a45e00c50b775acc00688a421858"}}