{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:3UFFXST6I6U7AYICUF5VCGXL6K","short_pith_number":"pith:3UFFXST6","canonical_record":{"source":{"id":"2202.11503","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-23T13:38:31Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a28d629bae857277cc6786a6f5086993c052bc6061a8f17a41cb321cc761bc4b","abstract_canon_sha256":"885a242d80d09a119f91e27baa932dd1d9095ea72051e05e4adde931ec1b8743"},"schema_version":"1.0"},"canonical_sha256":"dd0a5bca7e47a9f06102a17b511aebf28deecebfcddc94892fa64d5c49ff9e54","source":{"kind":"arxiv","id":"2202.11503","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.11503","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"arxiv_version","alias_value":"2202.11503v2","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.11503","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_12","alias_value":"3UFFXST6I6U7","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_16","alias_value":"3UFFXST6I6U7AYIC","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_8","alias_value":"3UFFXST6","created_at":"2026-07-05T04:48:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:3UFFXST6I6U7AYICUF5VCGXL6K","target":"record","payload":{"canonical_record":{"source":{"id":"2202.11503","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-23T13:38:31Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"a28d629bae857277cc6786a6f5086993c052bc6061a8f17a41cb321cc761bc4b","abstract_canon_sha256":"885a242d80d09a119f91e27baa932dd1d9095ea72051e05e4adde931ec1b8743"},"schema_version":"1.0"},"canonical_sha256":"dd0a5bca7e47a9f06102a17b511aebf28deecebfcddc94892fa64d5c49ff9e54","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:48:42.930635Z","signature_b64":"abPjB+nzs5573mu2VpWLhFsHAjv4Sx5CDVVsDKvcU0tWGg2ZvHsrLYLTowiQIKfTH5r31Lqqy8x9RrwWjV59BQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dd0a5bca7e47a9f06102a17b511aebf28deecebfcddc94892fa64d5c49ff9e54","last_reissued_at":"2026-07-05T04:48:42.930213Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:48:42.930213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.11503","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T04:48:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8oG9yOa1STURGJNDO43ewbCygnrxYuwikE65V43DoOv469AHwhIpFMU5lQEwBXWoW5Z9UBNxy8Bbk/yi7MqOBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T10:23:58.433772Z"},"content_sha256":"70477f7aab905f98a053b8f37c0b1a3477df37cbb061e7a1400632010a388953","schema_version":"1.0","event_id":"sha256:70477f7aab905f98a053b8f37c0b1a3477df37cbb061e7a1400632010a388953"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:3UFFXST6I6U7AYICUF5VCGXL6K","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Visual-Tactile Sensing for Real-time Liquid Volume Estimation in Grasping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Fan Zhu, Jia Pan, Lei Yang, Ruixing Jia, Wenping Wang, Youcan Yan, Zheng Wang","submitted_at":"2022-02-23T13:38:31Z","abstract_excerpt":"We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our specific tactile sensor without any extra sensor calibrations.The robotic system is well controlled and adjusted based on the estimation model in real time. The main contributions and novelties of our work are listed as follows: 1) Explore a proprioceptive way for liquid volume estimation by developing an end-to-end predictive model with multi-modal convolut"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.11503","kind":"arxiv","version":2},"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/2202.11503/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":"2026-07-05T04:48:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ZeqXcgsT5wh3vIWk5U5xuWj0myL6jQELp4gROBvQzCan4nbl4uH854igj0dQ8LCFiC9MNIYONqA5qPRJ+A0VAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T10:23:58.434270Z"},"content_sha256":"a11918f34febc56b28066c1ff86a1a3705eb4e2b6a7fbdd23384c4e7c886a66f","schema_version":"1.0","event_id":"sha256:a11918f34febc56b28066c1ff86a1a3705eb4e2b6a7fbdd23384c4e7c886a66f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3UFFXST6I6U7AYICUF5VCGXL6K/bundle.json","state_url":"https://pith.science/pith/3UFFXST6I6U7AYICUF5VCGXL6K/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3UFFXST6I6U7AYICUF5VCGXL6K/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":"2026-08-08T10:23:58Z","links":{"resolver":"https://pith.science/pith/3UFFXST6I6U7AYICUF5VCGXL6K","bundle":"https://pith.science/pith/3UFFXST6I6U7AYICUF5VCGXL6K/bundle.json","state":"https://pith.science/pith/3UFFXST6I6U7AYICUF5VCGXL6K/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3UFFXST6I6U7AYICUF5VCGXL6K/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:3UFFXST6I6U7AYICUF5VCGXL6K","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":"885a242d80d09a119f91e27baa932dd1d9095ea72051e05e4adde931ec1b8743","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-23T13:38:31Z","title_canon_sha256":"a28d629bae857277cc6786a6f5086993c052bc6061a8f17a41cb321cc761bc4b"},"schema_version":"1.0","source":{"id":"2202.11503","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.11503","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"arxiv_version","alias_value":"2202.11503v2","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.11503","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_12","alias_value":"3UFFXST6I6U7","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_16","alias_value":"3UFFXST6I6U7AYIC","created_at":"2026-07-05T04:48:42Z"},{"alias_kind":"pith_short_8","alias_value":"3UFFXST6","created_at":"2026-07-05T04:48:42Z"}],"graph_snapshots":[{"event_id":"sha256:a11918f34febc56b28066c1ff86a1a3705eb4e2b6a7fbdd23384c4e7c886a66f","target":"graph","created_at":"2026-07-05T04:48:42Z","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/2202.11503/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our specific tactile sensor without any extra sensor calibrations.The robotic system is well controlled and adjusted based on the estimation model in real time. The main contributions and novelties of our work are listed as follows: 1) Explore a proprioceptive way for liquid volume estimation by developing an end-to-end predictive model with multi-modal convolut","authors_text":"Fan Zhu, Jia Pan, Lei Yang, Ruixing Jia, Wenping Wang, Youcan Yan, Zheng Wang","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-23T13:38:31Z","title":"Visual-Tactile Sensing for Real-time Liquid Volume Estimation in Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.11503","kind":"arxiv","version":2},"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":"sha256:70477f7aab905f98a053b8f37c0b1a3477df37cbb061e7a1400632010a388953","target":"record","created_at":"2026-07-05T04:48:42Z","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":"885a242d80d09a119f91e27baa932dd1d9095ea72051e05e4adde931ec1b8743","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-02-23T13:38:31Z","title_canon_sha256":"a28d629bae857277cc6786a6f5086993c052bc6061a8f17a41cb321cc761bc4b"},"schema_version":"1.0","source":{"id":"2202.11503","kind":"arxiv","version":2}},"canonical_sha256":"dd0a5bca7e47a9f06102a17b511aebf28deecebfcddc94892fa64d5c49ff9e54","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dd0a5bca7e47a9f06102a17b511aebf28deecebfcddc94892fa64d5c49ff9e54","first_computed_at":"2026-07-05T04:48:42.930213Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:48:42.930213Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"abPjB+nzs5573mu2VpWLhFsHAjv4Sx5CDVVsDKvcU0tWGg2ZvHsrLYLTowiQIKfTH5r31Lqqy8x9RrwWjV59BQ==","signature_status":"signed_v1","signed_at":"2026-07-05T04:48:42.930635Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.11503","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:70477f7aab905f98a053b8f37c0b1a3477df37cbb061e7a1400632010a388953","sha256:a11918f34febc56b28066c1ff86a1a3705eb4e2b6a7fbdd23384c4e7c886a66f"],"state_sha256":"5c4869c0e9eebbfa642a916c5ece561d49877039ba59d8421aab47701352c1e3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RrWGvHwmvfH56yqV95K91Xpv1p4SDQ0N8ik0ftsfGqck9O8L57kLTgbtt0/YmNxhb3cMpcq8biSs3CSHQ+2vDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T10:23:58.437539Z","bundle_sha256":"4c7823d1f5927667e226bf9e81f7a02b42660788402d138feadfddaba9674aee"}}