{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:N6CCJLJZOZ4JHFPRORP5TFDM5H","short_pith_number":"pith:N6CCJLJZ","canonical_record":{"source":{"id":"2209.13916","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-28T08:39:27Z","cross_cats_sorted":[],"title_canon_sha256":"3cde2768734b287460271e6732ea1bb951a9a02a795376c18a535fe2fe1283b3","abstract_canon_sha256":"4eeebca587a28339e0cc9120acbd7612f5f82b61ca929c05c35021171177b3fe"},"schema_version":"1.0"},"canonical_sha256":"6f8424ad3976789395f1745fd9946ce9cfd8147dc95938f50689ebfadb546b8f","source":{"kind":"arxiv","id":"2209.13916","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.13916","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"arxiv_version","alias_value":"2209.13916v1","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.13916","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_12","alias_value":"N6CCJLJZOZ4J","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_16","alias_value":"N6CCJLJZOZ4JHFPR","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_8","alias_value":"N6CCJLJZ","created_at":"2026-07-05T05:01:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:N6CCJLJZOZ4JHFPRORP5TFDM5H","target":"record","payload":{"canonical_record":{"source":{"id":"2209.13916","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-28T08:39:27Z","cross_cats_sorted":[],"title_canon_sha256":"3cde2768734b287460271e6732ea1bb951a9a02a795376c18a535fe2fe1283b3","abstract_canon_sha256":"4eeebca587a28339e0cc9120acbd7612f5f82b61ca929c05c35021171177b3fe"},"schema_version":"1.0"},"canonical_sha256":"6f8424ad3976789395f1745fd9946ce9cfd8147dc95938f50689ebfadb546b8f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:01:45.605892Z","signature_b64":"r5aGuh0WTGzHZGuV5gDACgjrEhR8eNfvRtNlXL1Cmy9i11KM9HlUl81PDiSqH/Oly0yDUkHHWj6nfoL1ArBLAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6f8424ad3976789395f1745fd9946ce9cfd8147dc95938f50689ebfadb546b8f","last_reissued_at":"2026-07-05T05:01:45.605418Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:01:45.605418Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2209.13916","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":"2026-07-05T05:01:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CNfDEXMnho+LE0OcTyLzkZWBhpAtFpQ4NRG2e0BBjDYbgpqV0zFZG488Bnbot1U8PRSVevn9MMI1IiOIKRwaBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T00:29:49.177726Z"},"content_sha256":"af6a95e975a74c89f02368f3fb50526cc9893120e994afb5e524d59f59f5dad4","schema_version":"1.0","event_id":"sha256:af6a95e975a74c89f02368f3fb50526cc9893120e994afb5e524d59f59f5dad4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:N6CCJLJZOZ4JHFPRORP5TFDM5H","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Changyi Lin, Huazhe Xu, Shaoxiong Wang, Ziqi Lin","submitted_at":"2022-09-28T08:39:27Z","abstract_excerpt":"Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend. In this work, we novelly take advantage of the reflection property of semitransparent elastomer to design a robust, low-cost, and easy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3D geometry accurately from the darkness shown in the captured tactile images with only a single image for calibration. In contrast to previous sensors, D"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.13916","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/2209.13916/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":"2026-07-05T05:01:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xYmT1uqshY16zQeC28pbaQXPm7UlgCjjwVhFoOvQAtLJUbFDDqFkPDUOdEtWp5y+oySbR/P7dpsa/fwTUucZBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T00:29:49.178240Z"},"content_sha256":"33396f381509254caa6ddceb541a818bc1cfcc7b050fc6067e4f01d03c549a63","schema_version":"1.0","event_id":"sha256:33396f381509254caa6ddceb541a818bc1cfcc7b050fc6067e4f01d03c549a63"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/bundle.json","state_url":"https://pith.science/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/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":"2026-08-23T00:29:49Z","links":{"resolver":"https://pith.science/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H","bundle":"https://pith.science/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/bundle.json","state":"https://pith.science/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/state.json","well_known_bundle":"https://pith.science/.well-known/pith/N6CCJLJZOZ4JHFPRORP5TFDM5H/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:N6CCJLJZOZ4JHFPRORP5TFDM5H","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":"4eeebca587a28339e0cc9120acbd7612f5f82b61ca929c05c35021171177b3fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-28T08:39:27Z","title_canon_sha256":"3cde2768734b287460271e6732ea1bb951a9a02a795376c18a535fe2fe1283b3"},"schema_version":"1.0","source":{"id":"2209.13916","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2209.13916","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"arxiv_version","alias_value":"2209.13916v1","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2209.13916","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_12","alias_value":"N6CCJLJZOZ4J","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_16","alias_value":"N6CCJLJZOZ4JHFPR","created_at":"2026-07-05T05:01:45Z"},{"alias_kind":"pith_short_8","alias_value":"N6CCJLJZ","created_at":"2026-07-05T05:01:45Z"}],"graph_snapshots":[{"event_id":"sha256:33396f381509254caa6ddceb541a818bc1cfcc7b050fc6067e4f01d03c549a63","target":"graph","created_at":"2026-07-05T05:01:45Z","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/2209.13916/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-based tactile sensors that can measure 3D geometry of the contacting objects are crucial for robots to perform dexterous manipulation tasks. However, the existing sensors are usually complicated to fabricate and delicate to extend. In this work, we novelly take advantage of the reflection property of semitransparent elastomer to design a robust, low-cost, and easy-to-fabricate tactile sensor named DTact. DTact measures high-resolution 3D geometry accurately from the darkness shown in the captured tactile images with only a single image for calibration. In contrast to previous sensors, D","authors_text":"Changyi Lin, Huazhe Xu, Shaoxiong Wang, Ziqi Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-28T08:39:27Z","title":"DTact: A Vision-Based Tactile Sensor that Measures High-Resolution 3D Geometry Directly from Darkness"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2209.13916","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:af6a95e975a74c89f02368f3fb50526cc9893120e994afb5e524d59f59f5dad4","target":"record","created_at":"2026-07-05T05:01:45Z","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":"4eeebca587a28339e0cc9120acbd7612f5f82b61ca929c05c35021171177b3fe","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-09-28T08:39:27Z","title_canon_sha256":"3cde2768734b287460271e6732ea1bb951a9a02a795376c18a535fe2fe1283b3"},"schema_version":"1.0","source":{"id":"2209.13916","kind":"arxiv","version":1}},"canonical_sha256":"6f8424ad3976789395f1745fd9946ce9cfd8147dc95938f50689ebfadb546b8f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6f8424ad3976789395f1745fd9946ce9cfd8147dc95938f50689ebfadb546b8f","first_computed_at":"2026-07-05T05:01:45.605418Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:01:45.605418Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"r5aGuh0WTGzHZGuV5gDACgjrEhR8eNfvRtNlXL1Cmy9i11KM9HlUl81PDiSqH/Oly0yDUkHHWj6nfoL1ArBLAw==","signature_status":"signed_v1","signed_at":"2026-07-05T05:01:45.605892Z","signed_message":"canonical_sha256_bytes"},"source_id":"2209.13916","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:af6a95e975a74c89f02368f3fb50526cc9893120e994afb5e524d59f59f5dad4","sha256:33396f381509254caa6ddceb541a818bc1cfcc7b050fc6067e4f01d03c549a63"],"state_sha256":"e9e89260d4d6071b8050d0b5a850e06d3d8580cfe7afaa2e6f1f48cbd7b8b94e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ptWIpddy/nJ11BS9royoQaSMe8DKhZItjrxsWJCvP4drQF+NjbcxAsTnf9IOSkXgIUedBsimyX9cVzr5Oi1aCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T00:29:49.182816Z","bundle_sha256":"5c357a40b1714c632519aeff0d2221c625eebffa5412cb70964eb6542f4c0398"}}