Paper Citation Record · LEDGER

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision

As of 9 August 2026, this Paper Citation Record lists 15 of 15 outbound references and 1 inbound Pith citation observation for arXiv:2509.04658.

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

pith.paper-citation-record.v1
2509.04658 v1

Coverage vector

measured 15 of 15 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-05T06:00:14.837743Z

measured 16 of 16 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-20T12:52:15.138790Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-20T12:53:17.402749Z

Reference resolution

15 of 15 outbound references displayed

verified exact5
verified fuzzy4
unresolved6
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

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

This paper cites Surformer v1: Transformer-Based Surface Classification Using Tactile and Vision Features.

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 2026-08-09T06:31:02.800959+00:00.

Observation 62731c6a-0b80-4370-9c7d-8ee10f2325e5 · outbound

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

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Touch and Go: Learning from Human-Collected Vision and Touch

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.790891Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23471172-3861-4079-93b2-15449c796d56 · outbound

This paper cites Deep residual learning for image recognition,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Deep residual learning for image recognition,

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.795366Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 259e1bb6-c6fd-43c6-85e1-774488e7b737 · outbound

This paper cites Convolutional Networks with Dense Connectivity.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Convolutional Networks with Dense Connectivity

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-08-05T06:00:15.088284Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 9ffcbcc7-4b59-448c-ab6f-e626d9426984 · outbound

This paper cites Gradient-based learning applied to document recognition,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Gradient-based learning applied to document recognition,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:00:15.204959Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 17824df3-b995-4898-8f4b-f6ca687f56a5 · outbound

This paper cites EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision EfficientNet: Rethinking Model Scaling for Convolutional Neural Networks

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.806676Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2545e364-6b30-471d-b503-c2caa70e3cb5 · outbound

This paper cites Majority voting: Material classification by tactile sensing using surface textures,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Majority voting: Material classification by tactile sensing using surface textures,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:00:15.194631Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 7da64e3e-0ffc-46e6-9de8-c7dd8b174f35 · outbound

This paper cites Tactile-data classification of contact materials using computational intelligence,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Tactile-data classification of contact materials using computational intelligence,

Reference 8

Resolution: verified exact; raw_fallback, observed 2026-08-05T06:00:15.060851Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation d8bb8402-25db-4517-83e8-1e93994c2a9a · outbound

This paper cites Tactile-data classification of contact materials using principal component analysis and self-organizing maps,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Tactile-data classification of contact materials using principal component analysis and self-organizing maps,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:00:15.184948Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation be0a046b-c960-4a9e-84e7-4257e6b6fd36 · outbound

This paper cites Estimating perceptual attributes of haptic textures using visuo-tactile data,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Estimating perceptual attributes of haptic textures using visuo-tactile data,

Reference 10

Resolution: verified exact; raw_fallback, observed 2026-08-05T06:00:14.986302Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation a0efb47b-42af-4855-a341-452efbb2a5d9 · outbound

This paper cites Visuo-Tactile Transformers for Manipulation.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Visuo-Tactile Transformers for Manipulation

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.824282Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f9023a75-e8ef-4511-8c93-311b30a82b1f · outbound

This paper cites ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.827748Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 41855a90-f11d-4be1-b5e8-e3d9058d4178 · outbound

This paper cites GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-05T06:00:14.831282Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation acb187f6-3e3f-4111-afd3-bc22ace99e04 · outbound

This paper cites Efficient visual-tactile transformer with token reorganization for robotic slip detection,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision Efficient visual-tactile transformer with token reorganization for robotic slip detection,

Reference 14

Resolution: verified exact; doi, observed 2026-08-05T06:00:14.869635Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation e021d8c5-3097-402e-852c-5d1986145b58 · outbound

This paper cites EfficientNetV2: Smaller models and faster training,.

Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision EfficientNetV2: Smaller models and faster training,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-05T06:00:15.175128Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

Observation 0ace1f1b-26c1-499b-baa1-0b0bfe490ffc · inbound

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms cites this paper.

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms Surformer v2: A Multimodal Classifier for Surface Understanding from Touch and Vision

Reference 88

Resolution: verified exact; arxiv_id, observed 2026-05-20T12:53:17.404600Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.