{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:GPRGTNWLO2KH3DT2ZBTYDGXVR3","short_pith_number":"pith:GPRGTNWL","canonical_record":{"source":{"id":"2308.14277","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T03:17:54Z","cross_cats_sorted":[],"title_canon_sha256":"c724d3e01afd58a4b39cb892e76c50b58f4b7b7aa583d07266d1310fc6924a8d","abstract_canon_sha256":"7d74b5665450129d2883a2a1ba23d54cb19aec8d6b1965dc0eae9dd3bc0fee5a"},"schema_version":"1.0"},"canonical_sha256":"33e269b6cb76947d8e7ac867819af58ed535e95a09aa5774d9a621a4fc5e1315","source":{"kind":"arxiv","id":"2308.14277","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.14277","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"arxiv_version","alias_value":"2308.14277v2","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.14277","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_12","alias_value":"GPRGTNWLO2KH","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_16","alias_value":"GPRGTNWLO2KH3DT2","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_8","alias_value":"GPRGTNWL","created_at":"2026-07-05T07:24:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:GPRGTNWLO2KH3DT2ZBTYDGXVR3","target":"record","payload":{"canonical_record":{"source":{"id":"2308.14277","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T03:17:54Z","cross_cats_sorted":[],"title_canon_sha256":"c724d3e01afd58a4b39cb892e76c50b58f4b7b7aa583d07266d1310fc6924a8d","abstract_canon_sha256":"7d74b5665450129d2883a2a1ba23d54cb19aec8d6b1965dc0eae9dd3bc0fee5a"},"schema_version":"1.0"},"canonical_sha256":"33e269b6cb76947d8e7ac867819af58ed535e95a09aa5774d9a621a4fc5e1315","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:24:53.265755Z","signature_b64":"vMMqDUN1UTfLmBKaSZsvhZG0YzXMQPB72o6aIf6GQbdB7kcHJgJhNelb3s/B7hoynQJLgC96z/Wm0BORfSCqAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"33e269b6cb76947d8e7ac867819af58ed535e95a09aa5774d9a621a4fc5e1315","last_reissued_at":"2026-07-05T07:24:53.265267Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:24:53.265267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2308.14277","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":"2026-07-05T07:24:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PWeMiiVXaa0vvbErecDJyuuUbFIvzJWvLF3kakv5kNHXG9J+D+N7lT8VdklBxz/6NecAQIQtoqUJ/gl2O9mpBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T17:25:14.284463Z"},"content_sha256":"3f384eba94e7e4e408fa70a3f661701b0c97e68adc768525df8be9bbe2dc2ddd","schema_version":"1.0","event_id":"sha256:3f384eba94e7e4e408fa70a3f661701b0c97e68adc768525df8be9bbe2dc2ddd"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:GPRGTNWLO2KH3DT2ZBTYDGXVR3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Changyi Lin, Han Zhang, Huazhe Xu, Jikai Xu, Lei Wu","submitted_at":"2023-08-28T03:17:54Z","abstract_excerpt":"The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful execution. In this work, we present 9DTact, a straightforward yet versatile tactile sensor that offers 3D shape reconstruction and 6D force estimation capabilities. Conceptually, 9DTact is designed to be highly compact, robust, and adaptable to various robotic platforms. Moreover, it is low-cost and easy-to-fabricate, requiring minimal assembly skills. Functionally"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.14277","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/2308.14277/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:24:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bU8Iyc0AgU73X1DIf43d1m5N7RI6yH8zq7oIv0QN+zMGukFgOcABvY5/Rst8+z2PQg5OTIG6KR0+a3a9usrsAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-16T17:25:14.285458Z"},"content_sha256":"80e20f689dd4111b06e1c82f3ed73c56f97e9484c58b929c69e0332b26b531d5","schema_version":"1.0","event_id":"sha256:80e20f689dd4111b06e1c82f3ed73c56f97e9484c58b929c69e0332b26b531d5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/bundle.json","state_url":"https://pith.science/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/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":"2026-08-16T17:25:14Z","links":{"resolver":"https://pith.science/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3","bundle":"https://pith.science/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/bundle.json","state":"https://pith.science/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GPRGTNWLO2KH3DT2ZBTYDGXVR3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:GPRGTNWLO2KH3DT2ZBTYDGXVR3","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":"7d74b5665450129d2883a2a1ba23d54cb19aec8d6b1965dc0eae9dd3bc0fee5a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T03:17:54Z","title_canon_sha256":"c724d3e01afd58a4b39cb892e76c50b58f4b7b7aa583d07266d1310fc6924a8d"},"schema_version":"1.0","source":{"id":"2308.14277","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2308.14277","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"arxiv_version","alias_value":"2308.14277v2","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2308.14277","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_12","alias_value":"GPRGTNWLO2KH","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_16","alias_value":"GPRGTNWLO2KH3DT2","created_at":"2026-07-05T07:24:53Z"},{"alias_kind":"pith_short_8","alias_value":"GPRGTNWL","created_at":"2026-07-05T07:24:53Z"}],"graph_snapshots":[{"event_id":"sha256:80e20f689dd4111b06e1c82f3ed73c56f97e9484c58b929c69e0332b26b531d5","target":"graph","created_at":"2026-07-05T07:24:53Z","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/2308.14277/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful execution. In this work, we present 9DTact, a straightforward yet versatile tactile sensor that offers 3D shape reconstruction and 6D force estimation capabilities. Conceptually, 9DTact is designed to be highly compact, robust, and adaptable to various robotic platforms. Moreover, it is low-cost and easy-to-fabricate, requiring minimal assembly skills. Functionally","authors_text":"Changyi Lin, Han Zhang, Huazhe Xu, Jikai Xu, Lei Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T03:17:54Z","title":"9DTact: A Compact Vision-Based Tactile Sensor for Accurate 3D Shape Reconstruction and Generalizable 6D Force Estimation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2308.14277","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":"sha256:3f384eba94e7e4e408fa70a3f661701b0c97e68adc768525df8be9bbe2dc2ddd","target":"record","created_at":"2026-07-05T07:24:53Z","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":"7d74b5665450129d2883a2a1ba23d54cb19aec8d6b1965dc0eae9dd3bc0fee5a","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-08-28T03:17:54Z","title_canon_sha256":"c724d3e01afd58a4b39cb892e76c50b58f4b7b7aa583d07266d1310fc6924a8d"},"schema_version":"1.0","source":{"id":"2308.14277","kind":"arxiv","version":2}},"canonical_sha256":"33e269b6cb76947d8e7ac867819af58ed535e95a09aa5774d9a621a4fc5e1315","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"33e269b6cb76947d8e7ac867819af58ed535e95a09aa5774d9a621a4fc5e1315","first_computed_at":"2026-07-05T07:24:53.265267Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:24:53.265267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vMMqDUN1UTfLmBKaSZsvhZG0YzXMQPB72o6aIf6GQbdB7kcHJgJhNelb3s/B7hoynQJLgC96z/Wm0BORfSCqAw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:24:53.265755Z","signed_message":"canonical_sha256_bytes"},"source_id":"2308.14277","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f384eba94e7e4e408fa70a3f661701b0c97e68adc768525df8be9bbe2dc2ddd","sha256:80e20f689dd4111b06e1c82f3ed73c56f97e9484c58b929c69e0332b26b531d5"],"state_sha256":"81477d5616e81816b4dd763026a953a8c954ef21a3a1b3a9682448f8abfc457e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YR/XDQvVHTFd4B/OkPOh7amifIjzRQAkRDGG/sCMZyxVB4FSCEDm4XY0o7sWnFllY69cBO1qfL6AvMHVi0CSBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-16T17:25:14.316123Z","bundle_sha256":"d6e7fc726622174d3b7ee11159d1000e5a2d17f6b484162536d3c1b6049291c0"}}