{"as_of":"2026-08-15T16:21:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:48351874a5ffd4e01b876c4ce5b12e45637a312eebe0e419d4fc04569af5b4ae","coverage":[{"denominator":43,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":43,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-04T18:17:55.557954Z","state":"measured"},{"denominator":45,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":45,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-15T06:32:42.880941+00:00","state":"measured"},{"denominator":2,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":2,"source":"paper_references, paper_reference_links","source_observed_at":"2026-06-27T18:10:23.973178Z","state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"arxiv_reference","source_observed_at":"2026-07-02T23:37:27.198432Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"cited_work":{"arxiv_id":"2509.10063","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2509.10063","snapshot_observed_at":"2026-07-02T23:37:27.198432Z","title":"Twintac: A wide-range, highly sensitive tactile sen- sor with real-to-sim digital twin sensor model","venue":null,"work_id":"786031ba-7642-4dd5-bba9-eca5d444b01a","year":2025},"citing_paper":{"arxiv_id":"2604.20295","last_updated":"2026-04-22T07:51:20Z","snapshot_observed_at":"2026-08-14T03:25:12.400917Z","submitted_at":"2026-04-22T07:51:20Z","title":"ETac: A Lightweight and Efficient Tactile Simulation Framework for Learning Dexterous Manipulation","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-05-10T00:41:47.308195Z"},"links":{"cited_paper":"/paper/2509.10063","citing_paper":"/paper/2604.20295"},"observation_digest":"sha256:b416a6b3df88213618429d2e237095a9690c65ec7b3bf15740608c82d372705f","observation_id":"2719d137-f5b3-4c0c-a919-43b9c484cb56","resolution":{"observed_at":"2026-05-10T00:54:48.988142Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"cited_work":{"arxiv_id":"2509.10063","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2509.10063","snapshot_observed_at":"2026-07-02T23:37:27.198432Z","title":"Twintac: A wide-range, highly sensitive tactile sen- sor with real-to-sim digital twin sensor model","venue":null,"work_id":"786031ba-7642-4dd5-bba9-eca5d444b01a","year":2025},"citing_paper":{"arxiv_id":"2606.08765","last_updated":"2026-06-11T07:13:24Z","snapshot_observed_at":"2026-08-14T05:44:27.873698Z","submitted_at":"2026-06-07T18:07:01Z","title":"RGB-S: Image-Aligned Tactile Saliency for Robust Dexterous Manipulation","version":2},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-06-27T18:10:23.973178Z"},"links":{"cited_paper":"/paper/2509.10063","citing_paper":"/paper/2606.08765"},"observation_digest":"sha256:33e3a0fa65bfcb749a9de1c114fca5bfd0d779583a6b218a3a2541873a5886c0","observation_id":"7bc6ee82-ed49-42c7-b597-ce5cb941e9f1","resolution":{"observed_at":"2026-07-02T23:37:27.199904Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2509.10063/citation-record","integrity":"/paper/2509.10063/integrity","json":"/paper/2509.10063/citation-record.json","paper":"/paper/2509.10063"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.450731Z","title":"Human tactile sensing and sensorimotor mech- anism: from afferent tactile signals to efferent motor control,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.450731Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:94900aa3b9111126095e20cad1f118815e375b7227a0e6b31b0730bf9df410f3","observation_id":"87b895e5-e81e-4576-a516-ee3f46318e65","resolution":{"observed_at":"2026-08-04T18:17:55.450731Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.454246Z","title":"Learning of grasp adaptation through experience and tactile sensing,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.454246Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:a5ab5832e78d67fae4f5427feada3c59673a463894a07b987ed1a8c3ef03d6fb","observation_id":"f2b1a71d-28e7-478d-a998-a37f111a2e06","resolution":{"observed_at":"2026-08-04T18:17:55.454246Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.456834Z","title":"More than a feeling: Learning to grasp and regrasp using vision and touch,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.456834Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:54feebe341e52fa478e89c478e0bde508a40ecd2666b81584d8ba4cbd4d7550f","observation_id":"c742812f-8ee6-4441-b242-212d3fcd64f1","resolution":{"observed_at":"2026-08-04T18:17:55.456834Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.459649Z","title":"Tac- tile regrasp: Grasp adjustments via simulated tactile transformations,","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.459649Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:7a0578de59abbb4f63de6f2e097d8dc3026b3c4d9e24a5b2163da1915ba283e0","observation_id":"f29b2e86-9ca5-4a9a-88ca-93019cfa8fde","resolution":{"observed_at":"2026-08-04T18:17:55.459649Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.462068Z","title":"Grasping in the dark: Compliant grasping using shadow dexterous hand and biotac tactile sensor,","venue":null,"work_id":null,"year":2011},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.462068Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:cde68a4a61629afa0315d5f88a70862d4b6edb1864da940f4b2787394abeea17","observation_id":"0f201738-9c71-4cd2-a31d-657e77e77875","resolution":{"observed_at":"2026-08-04T18:17:55.462068Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.464792Z","title":"Tactile sensors for advanced intelligent systems,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.464792Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:a0c1f502aa7a96b6ee711bae2dd5de409891a1e42689c2e0b99beb6c16a8c4ad","observation_id":"127d4917-cbcb-4b37-94d4-18f78652d68b","resolution":{"observed_at":"2026-08-04T18:17:55.464792Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2309.10886","last_updated":"2023-09-19T19:25:33Z","snapshot_observed_at":"2026-08-14T23:25:32.067829Z","submitted_at":"2023-09-19T19:25:33Z","title":"GelSight Svelte Hand: A Three-finger, Two-DoF, Tactile-rich, Low-cost Robot Hand for Dexterous Manipulation","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2309.10886","snapshot_observed_at":"2026-08-04T18:17:55.468115Z","title":"Gelsight svelte hand: A three-finger, two-dof, tactile-rich, low-cost robot hand for dexterous manipulation,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.468115Z"},"links":{"cited_paper":"/paper/2309.10886","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:10f2cc8a95483f0cc48bacbcd4bc25777b1d9735eb29ceea2d1d1d7533ab09cc","observation_id":"691062f1-32f5-4a1d-bff5-00aeb99f4f3e","resolution":{"observed_at":"2026-08-04T18:17:55.468115Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2408.06265","last_updated":"2024-08-12T16:24:21Z","snapshot_observed_at":"2026-08-12T23:04:50.654789Z","submitted_at":"2024-08-12T16:24:21Z","title":"EyeSight Hand: Design of a Fully-Actuated Dexterous Robot Hand with Integrated Vision-Based Tactile Sensors and Compliant Actuation","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2408.06265","snapshot_observed_at":"2026-08-04T18:17:55.470889Z","title":"Eyesight hand: Design of a fully-actuated dexterous robot hand with inte- grated vision-based tactile sensors and compliant actuation,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.470889Z"},"links":{"cited_paper":"/paper/2408.06265","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:afc703a2974753ac84232e96d883e547a8826824e82193436d35c029bd8a9715","observation_id":"191579b1-38b1-47c9-856f-56853dda792a","resolution":{"observed_at":"2026-08-04T18:17:55.470889Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2401.12496","last_updated":"2024-11-26T11:58:14Z","snapshot_observed_at":"2026-08-13T04:37:14.747874Z","submitted_at":"2024-01-23T05:37:32Z","title":"DexTouch: Learning to Seek and Manipulate Objects with Tactile Dexterity","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2401.12496","snapshot_observed_at":"2026-08-04T18:17:55.474078Z","title":"Dextouch: Learning to seek and manipulate objects with tactile dexterity,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.474078Z"},"links":{"cited_paper":"/paper/2401.12496","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:ac48a9af709dc8ed2014b3ecb28bf4cb09519ef62f4b06417073ff0d7d6b2870","observation_id":"e821b43a-a5fe-4be6-8e41-f787c049b30c","resolution":{"observed_at":"2026-08-04T18:17:55.474078Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.476804Z","title":"Progress on flexible tactile sensors in robotic applications on objects properties recognition, manipulation and human-machine interactions,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.476804Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:eb9551e421a8c2179cc04b40069a56793067ea70925a570ef5ea17c0136399db","observation_id":"1fe448a0-726f-42b7-b6a1-b00bb8a61089","resolution":{"observed_at":"2026-08-04T18:17:55.476804Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.479542Z","title":"Tactile object recognition using deep learning and dropout,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.479542Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:71e703df2ec388b9a4a844123b5ab2cdfadf3fe011eb7c2b344c9d9bdcd70015","observation_id":"e20a1c4b-f19f-4c10-8c34-979d1857014d","resolution":{"observed_at":"2026-08-04T18:17:55.479542Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.482112Z","title":"Improved learning of robot manipulation tasks via tactile intrinsic motivation,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.482112Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:cfe4a85cde75a1d8273f914c3e98c759a929dfcb1a46dafd2506ea50b576e2fe","observation_id":"6f0afabe-5ec8-4f61-851f-206c03375cf2","resolution":{"observed_at":"2026-08-04T18:17:55.482112Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2407.07885","last_updated":"2025-05-19T18:18:39Z","snapshot_observed_at":"2026-08-15T12:23:52.473066Z","submitted_at":"2024-07-10T17:52:30Z","title":"Learning In-Hand Translation Using Tactile Skin With Shear and Normal Force Sensing","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2407.07885","snapshot_observed_at":"2026-08-04T18:17:55.484431Z","title":"Learning in-hand translation using tactile skin with shear and normal force sensing,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.484431Z"},"links":{"cited_paper":"/paper/2407.07885","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:e2890b180b08446b5e563d900be8ae0a927fc3420a6e53aa485d7138b36df08c","observation_id":"0fabe4e0-3ac2-4cd7-8025-59296106ae75","resolution":{"observed_at":"2026-08-04T18:17:55.484431Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2403.08716","last_updated":"2024-03-13T17:18:19Z","snapshot_observed_at":"2026-08-13T00:54:57.437295Z","submitted_at":"2024-03-13T17:18:19Z","title":"DIFFTACTILE: A Physics-based Differentiable Tactile Simulator for Contact-rich Robotic Manipulation","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2403.08716","snapshot_observed_at":"2026-08-04T18:17:55.487049Z","title":"Difftactile: A physics-based differentiable tactile simulator for contact-rich robotic manipulation,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.487049Z"},"links":{"cited_paper":"/paper/2403.08716","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:4468096830306d36dcee5d5be234e3d690cc6cee9b865d9706178db8136f850e","observation_id":"1968aaae-5973-4da6-aa32-ee556dc4b247","resolution":{"observed_at":"2026-08-04T18:17:55.487049Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.489577Z","title":"Taxim: An example-based simulation model for gelsight tactile sensors,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.489577Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:32d4b02514aad257b6beb4e8114db1a5fffdc213672d34ddf82a3712392eac75","observation_id":"79a06e9c-d8b9-4126-8ab0-486954aac80a","resolution":{"observed_at":"2026-08-04T18:17:55.489577Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.491933Z","title":"Sim-to-real transfer for robotic manipulation with tactile sensory,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.491933Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:cb67b1b7d84724782031438a0315cb1ea2256e1aee650f4906b91d7075d60eb8","observation_id":"cfbc37de-8a84-459f-ab84-23312773dfc5","resolution":{"observed_at":"2026-08-04T18:17:55.491933Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.494520Z","title":"Novel tactile sensor technology and smart tactile sensing systems: A review,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.494520Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:a52a291e76ad85197a4cd97fca484c72cacbee3143db34702df168919da60019","observation_id":"b6a43bad-299c-4685-bb5c-313ff5ddb8db","resolution":{"observed_at":"2026-08-04T18:17:55.494520Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.496900Z","title":"Isaacgym: A high-performance simulation environment for reinforcement learning","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.496900Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:ca41b69cd1620aea195d3ae74d3f4e9cb0b753d49db4ae28a94c031beb8baa38","observation_id":"8c92729a-22d0-41fb-be5e-c26f42a5c51e","resolution":{"observed_at":"2026-08-04T18:17:55.496900Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.499336Z","title":"Tactile sens- ing—from humans to humanoids,","venue":null,"work_id":null,"year":2009},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.499336Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:3ed8d8d7f4db9af212f4ca0721b9cef9e118e343741519054c96cc50e3a9eb32","observation_id":"bc8e62a0-6361-417d-9080-d453c61c1d6d","resolution":{"observed_at":"2026-08-04T18:17:55.499336Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.501752Z","title":null,"venue":null,"work_id":null,"year":2013},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.501752Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:8734d1de1da6cdad2e2e0548f97d78af7474b261843e4d52826b36e660092cd8","observation_id":"ce5c0186-642d-4ef3-b36c-960ab5a80c4c","resolution":{"observed_at":"2026-08-04T18:17:55.501752Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.504311Z","title":"Recent progress in tactile sensing and sensors for robotic manipulation: can we turn tactile sensing into vision?,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.504311Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:777d2e8d2f643209dfb07511cabd48e93e7ac5a6782ac314f31cbd526a669976","observation_id":"98b91f66-1db3-458a-a70c-f79a1bc7dd6d","resolution":{"observed_at":"2026-08-04T18:17:55.504311Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.506584Z","title":"Gelsight: High-resolution robot tactile sensors for estimating geometry and force,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.506584Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:a469bf0e32e43e96c9bacb2b2b4d3b31eeec962d9cee9eb40603aa88a08ada92","observation_id":"dc956c65-c04b-4eeb-a00d-c51d2dea32cd","resolution":{"observed_at":"2026-08-04T18:17:55.506584Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.509183Z","title":"Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.509183Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:0c457d4c5949b2f08f8306cde3f1384ce1aeb9a9e88773cbefff642b243b1f13","observation_id":"c7ac41b8-5a05-4dd9-9e90-8681f4394c37","resolution":{"observed_at":"2026-08-04T18:17:55.509183Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.511711Z","title":"Visuotactile sensors with emphasis on gelsight sensor: A review,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.511711Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:10bbf47ea999bed721c4d2a495ee83e15ce96fb723d33264cfe3810d765190df","observation_id":"5836a80a-1650-4a04-a366-532b870fe720","resolution":{"observed_at":"2026-08-04T18:17:55.511711Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.514148Z","title":"Combined use of fsr sensor array and svm classifier for finger motion recognition based on pressure distribution map,","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.514148Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:cf36e3448fd89ab74ab2b7d108ad3c89b8ea41af2d34c52d858b70c459b43b27","observation_id":"9ceadfdf-d8ae-4a9b-859e-1199be204da1","resolution":{"observed_at":"2026-08-04T18:17:55.514148Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.516537Z","title":"Recent progress in pressure and temperature tactile sensors: principle, classification, integration and outlook,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.516537Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:ea642047bff86b935dca8a3210f1cd1e43b767b441184645fec1bf09b3b93ae3","observation_id":"9a271e9e-16de-4cec-9d09-f302ea38776a","resolution":{"observed_at":"2026-08-04T18:17:55.516537Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.518863Z","title":"The feel of mems barometers: Inexpensive and easily customized tactile array sensors,","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.518863Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:e8a3da820c5396457b10416c02e16b23ae7c2b80892871f532e0434a8bba4d1d","observation_id":"e3b4a030-9b29-4139-948f-a0ec4d3ac9f6","resolution":{"observed_at":"2026-08-04T18:17:55.518863Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.521341Z","title":"Barotac: Barometric three-axis tactile sensor with slip detection capability,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.521341Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:58f4af9be6c453a3ca52096a21ea45e3693813f5279f7e0780736907cf12111a","observation_id":"757d93d3-d0a4-4b8c-9b05-ac9d567f7cc6","resolution":{"observed_at":"2026-08-04T18:17:55.521341Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.523934Z","title":"Barometer-based tactile skin for anthropomorphic robot hand,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.523934Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:995c296859336245b9948173512d8a4599383604fbc66601a6bd5fc34a9262de","observation_id":"84d6877a-56d7-48ef-8a2c-974c4dbca3f3","resolution":{"observed_at":"2026-08-04T18:17:55.523934Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.526450Z","title":"Force measurement of hand and fingers,","venue":null,"work_id":null,"year":2010},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.526450Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:9334c0d2344c815b918075712167831e1f7629581d0475a55ba07b335c3eb360","observation_id":"c6bd25e4-fcbe-47c8-937f-93d2d973fab2","resolution":{"observed_at":"2026-08-04T18:17:55.526450Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2408.06506","last_updated":"2025-03-08T01:04:23Z","snapshot_observed_at":"2026-08-12T23:04:39.665410Z","submitted_at":"2024-08-12T21:44:43Z","title":"TacSL: A Library for Visuotactile Sensor Simulation and Learning","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2408.06506","snapshot_observed_at":"2026-08-04T18:17:55.528826Z","title":"Tacsl: A library for visuotactile sensor simulation and learning,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.528826Z"},"links":{"cited_paper":"/paper/2408.06506","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:8ca64738556e78d240fcc380b8cac8db1fb2512d42aa37e545148f908b8996a8","observation_id":"2992e13c-9f88-4536-b8e0-08c5a0628a09","resolution":{"observed_at":"2026-08-04T18:17:55.528826Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2406.12226","last_updated":"2024-06-18T03:04:49Z","snapshot_observed_at":"2026-08-12T23:40:29.628497Z","submitted_at":"2024-06-18T03:04:49Z","title":"When Vision Meets Touch: A Contemporary Review for Visuotactile Sensors from the Signal Processing Perspective","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2406.12226","snapshot_observed_at":"2026-08-04T18:17:55.531530Z","title":"When vision meets touch: A contemporary review for visuotactile sensors from the signal processing perspective,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.531530Z"},"links":{"cited_paper":"/paper/2406.12226","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:dabac6bf399e4d6beddd4134440194a4d2d0cc0df0e44db82a74065e62fe7bec","observation_id":"d1fa8bf3-1b06-47e9-89d7-863c12630c79","resolution":{"observed_at":"2026-08-04T18:17:55.531530Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.534075Z","title":"Efficient tactile simulation with differentiability for robotic manipulation,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.534075Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:830438ed9563fab205a5ae3f0a97fbea5f669017639ab1866b4c083d986da65b","observation_id":"59e5f4ce-c847-405a-b573-4fbe29688232","resolution":{"observed_at":"2026-08-04T18:17:55.534075Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.536379Z","title":"3d force and contact estimation for a soft-bubble visuotactile sensor using fem,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.536379Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:b708d9cd296f83626b1e055a6ca0a6889cae81217f5c9f61e648cd1e045e41e3","observation_id":"927d4f7f-771e-401d-a529-c0ffaefe5997","resolution":{"observed_at":"2026-08-04T18:17:55.536379Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.538714Z","title":"Tirgel: A visuo-tactile sensor with total internal reflection mechanism for external observation and contact detection,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.538714Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:de44dbd2b2f1aac392fe8f9eccc158565f92597ad910069e87a663d012e50e77","observation_id":"2d764ba4-c80a-479e-92d6-937220e06b6d","resolution":{"observed_at":"2026-08-04T18:17:55.538714Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.541183Z","title":"Tacipc: Intersection- and inversion-free fem-based elastomer simulation for optical tactile sensors,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.541183Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:f2f7ec6faf562fb8a959a3c0f575fff43238735b5eae47508d42ad6fcd04c710","observation_id":"b8c98336-cf54-4f44-80b9-97cc9ca1ab1f","resolution":{"observed_at":"2026-08-04T18:17:55.541183Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.543406Z","title":"Sim-to-real for robotic tactile sensing via physics-based simulation and learned latent projections,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.543406Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:61a8d470784655e26ca88b8c55f0d3419cafcf5c7620817b061e565f857c1542","observation_id":"5c0132ec-5978-4f04-97dd-dd46ddafd6bf","resolution":{"observed_at":"2026-08-04T18:17:55.543406Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.546040Z","title":"Tactile sensibility in the human hand: relative and absolute densities of four types of mechanoreceptive units in glabrous skin.,","venue":null,"work_id":null,"year":1979},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.546040Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:08048d623c8e12ac3d62c9e480ba9d78d689587a563c7c989fe4dbde73c947c1","observation_id":"7851f3e0-5c8a-4ad0-a556-e7958de1265d","resolution":{"observed_at":"2026-08-04T18:17:55.546040Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.548588Z","title":"Injection injuries: seemingly minor injuries with major consequences,","venue":null,"work_id":null,"year":2008},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.548588Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:26a69b033c617798840bc256807374128a8d3bdb82901c86300511fbf83609ed","observation_id":"935ac7e1-7ed2-4078-a8f8-a207c903be72","resolution":{"observed_at":"2026-08-04T18:17:55.548588Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.550908Z","title":"Fast tetrahedral meshing in the wild,","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":40,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.550908Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:8ebc02caeadb3b17c164ef1f1cb1ccba8fe10728b0eb20f3b9f30b4e0fe12355","observation_id":"44eefbe0-a5fa-4bbe-9c6a-c4a6688e2fa3","resolution":{"observed_at":"2026-08-04T18:17:55.550908Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.553209Z","title":"On the yielding of materials,","venue":null,"work_id":null,"year":1913},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":41,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.553209Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:988f1a8369e3a67483cc5b12fa9f23540d151315dfca88d6164fe3027629c018","observation_id":"444e69bf-e509-473a-bd33-bea3d7d8cfcd","resolution":{"observed_at":"2026-08-04T18:17:55.553209Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-04T18:17:55.555551Z","title":"Dynamic time warping,","venue":null,"work_id":null,"year":2007},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.555551Z"},"links":{"citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:61c25d7cc917bf66e42943a57e2ca46f403e6d2198f342f27baa1a9ea62effe4","observation_id":"b311109b-58fb-4806-9721-7a78f32c2307","resolution":{"observed_at":"2026-08-04T18:17:55.555551Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2202.07125","last_updated":"2023-05-11T21:47:52Z","snapshot_observed_at":"2026-08-13T16:40:45.559917Z","submitted_at":"2022-02-15T01:43:27Z","title":"Transformers in Time Series: A Survey","version":5},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2202.07125","snapshot_observed_at":"2026-08-04T18:17:55.557954Z","title":"Transformers in time series: A survey,","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model","version":1},"reference_index":43,"source":"pdf_text","source_observed_at":"2026-08-04T18:17:55.557954Z"},"links":{"cited_paper":"/paper/2202.07125","citing_paper":"/paper/2509.10063"},"observation_digest":"sha256:0a2e718d05cd4653c2878392e539219be75902474bf60b338cdbc9189f8a45c8","observation_id":"55c10c9c-4140-4fe1-9151-ce213141f015","resolution":{"observed_at":"2026-08-04T18:17:55.557954Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2509.10063","last_updated":"2025-09-12T08:51:28Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-15T00:39:14.381961Z","submitted_at":"2025-09-12T08:51:28Z","title":"TwinTac: A Wide-Range, Highly Sensitive Tactile Sensor with Real-to-Sim Digital Twin Sensor Model"},"reference_resolution":{"displayed":43,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":43,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":43},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"thesis":"As of 15 August 2026, this Paper Citation Record lists 43 of 43 outbound references and 2 inbound Pith citation observations for arXiv:2509.10063."}