{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2015:HERZ3ZHZLD5SJP7BDEKRA3QHVC","short_pith_number":"pith:HERZ3ZHZ","canonical_record":{"source":{"id":"1512.06658","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-12-21T15:22:16Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"05e99bdccc98234d4e1c14fc0490da15b1a354bedf52e671654e277132098521","abstract_canon_sha256":"0bfc8b254219d060ee7ff456d362558246cd98c8521c514a4ec91dc27b3a11fc"},"schema_version":"1.0"},"canonical_sha256":"39239de4f958fb24bfe11915106e07a8a3bd98c54b77956d1a9376fd617765bc","source":{"kind":"arxiv","id":"1512.06658","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1512.06658","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"1512.06658v2","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1512.06658","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"HERZ3ZHZLD5S","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_16","alias_value":"HERZ3ZHZLD5SJP7B","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_8","alias_value":"HERZ3ZHZ","created_at":"2026-05-18T12:29:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2015:HERZ3ZHZLD5SJP7BDEKRA3QHVC","target":"record","payload":{"canonical_record":{"source":{"id":"1512.06658","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-12-21T15:22:16Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"05e99bdccc98234d4e1c14fc0490da15b1a354bedf52e671654e277132098521","abstract_canon_sha256":"0bfc8b254219d060ee7ff456d362558246cd98c8521c514a4ec91dc27b3a11fc"},"schema_version":"1.0"},"canonical_sha256":"39239de4f958fb24bfe11915106e07a8a3bd98c54b77956d1a9376fd617765bc","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:15:57.792019Z","signature_b64":"t7OLaCdL+t6Gyi9cGW/Ghn2Ugr1uS50mRur9V7sEk/jWHupadb4MmonPJnoXLERBITL5i6/fmDLHT9Yh50gYBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39239de4f958fb24bfe11915106e07a8a3bd98c54b77956d1a9376fd617765bc","last_reissued_at":"2026-05-18T01:15:57.791306Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:15:57.791306Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1512.06658","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":"2026-05-18T01:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XsqWRfCd7zhwCCbnqWBU9dz5soQAyC9OoNvFTjWo5bTns7uM2D9o4x/0QbxaEtcDq5YUjXVHsdTn8PRKT6ZNDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T03:12:10.379071Z"},"content_sha256":"bc72e0fd71f76f28fcc3131f5f3bc7992b0db69a2f61ee9a4ab16088c58bcd0c","schema_version":"1.0","event_id":"sha256:bc72e0fd71f76f28fcc3131f5f3bc7992b0db69a2f61ee9a4ab16088c58bcd0c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2015:HERZ3ZHZLD5SJP7BDEKRA3QHVC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Deep Learning for Surface Material Classification Using Haptic And Visual Information","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Eckehard Steinbach, Haitian Zheng, Lu Fang, Matti Strese, Mengqi Ji, Yigitcan Ozer","submitted_at":"2015-12-21T15:22:16Z","abstract_excerpt":"When a user scratches a hand-held rigid tool across an object surface, an acceleration signal can be captured, which carries relevant information about the surface. More importantly, such a haptic signal is complementary to the visual appearance of the surface, which suggests the combination of both modalities for the recognition of the surface material. In this paper, we present a novel deep learning method dealing with the surface material classification problem based on a Fully Convolutional Network (FCN), which takes as input the aforementioned acceleration signal and a corresponding image"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1512.06658","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":""},"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":"2026-05-18T01:15:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kkZKAS9dLdcDCaw+KRPZg72EFEuxjjB+IySsiRO8RqeEvUsyrhs6qxZEYpZnTmmK81RIpTErPqc/1T6ckjDBCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-03T03:12:10.379440Z"},"content_sha256":"aa39af70d6c97d6fa7d746ce5aa9256b3240a9db95d279591d230c91fa32db9a","schema_version":"1.0","event_id":"sha256:aa39af70d6c97d6fa7d746ce5aa9256b3240a9db95d279591d230c91fa32db9a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/bundle.json","state_url":"https://pith.science/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/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":"2026-06-03T03:12:10Z","links":{"resolver":"https://pith.science/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC","bundle":"https://pith.science/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/bundle.json","state":"https://pith.science/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HERZ3ZHZLD5SJP7BDEKRA3QHVC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2015:HERZ3ZHZLD5SJP7BDEKRA3QHVC","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":"0bfc8b254219d060ee7ff456d362558246cd98c8521c514a4ec91dc27b3a11fc","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-12-21T15:22:16Z","title_canon_sha256":"05e99bdccc98234d4e1c14fc0490da15b1a354bedf52e671654e277132098521"},"schema_version":"1.0","source":{"id":"1512.06658","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1512.06658","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"arxiv_version","alias_value":"1512.06658v2","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1512.06658","created_at":"2026-05-18T01:15:57Z"},{"alias_kind":"pith_short_12","alias_value":"HERZ3ZHZLD5S","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_16","alias_value":"HERZ3ZHZLD5SJP7B","created_at":"2026-05-18T12:29:25Z"},{"alias_kind":"pith_short_8","alias_value":"HERZ3ZHZ","created_at":"2026-05-18T12:29:25Z"}],"graph_snapshots":[{"event_id":"sha256:aa39af70d6c97d6fa7d746ce5aa9256b3240a9db95d279591d230c91fa32db9a","target":"graph","created_at":"2026-05-18T01:15:57Z","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"},"paper":{"abstract_excerpt":"When a user scratches a hand-held rigid tool across an object surface, an acceleration signal can be captured, which carries relevant information about the surface. More importantly, such a haptic signal is complementary to the visual appearance of the surface, which suggests the combination of both modalities for the recognition of the surface material. In this paper, we present a novel deep learning method dealing with the surface material classification problem based on a Fully Convolutional Network (FCN), which takes as input the aforementioned acceleration signal and a corresponding image","authors_text":"Eckehard Steinbach, Haitian Zheng, Lu Fang, Matti Strese, Mengqi Ji, Yigitcan Ozer","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-12-21T15:22:16Z","title":"Deep Learning for Surface Material Classification Using Haptic And Visual Information"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1512.06658","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:bc72e0fd71f76f28fcc3131f5f3bc7992b0db69a2f61ee9a4ab16088c58bcd0c","target":"record","created_at":"2026-05-18T01:15:57Z","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":"0bfc8b254219d060ee7ff456d362558246cd98c8521c514a4ec91dc27b3a11fc","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2015-12-21T15:22:16Z","title_canon_sha256":"05e99bdccc98234d4e1c14fc0490da15b1a354bedf52e671654e277132098521"},"schema_version":"1.0","source":{"id":"1512.06658","kind":"arxiv","version":2}},"canonical_sha256":"39239de4f958fb24bfe11915106e07a8a3bd98c54b77956d1a9376fd617765bc","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39239de4f958fb24bfe11915106e07a8a3bd98c54b77956d1a9376fd617765bc","first_computed_at":"2026-05-18T01:15:57.791306Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:15:57.791306Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"t7OLaCdL+t6Gyi9cGW/Ghn2Ugr1uS50mRur9V7sEk/jWHupadb4MmonPJnoXLERBITL5i6/fmDLHT9Yh50gYBw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:15:57.792019Z","signed_message":"canonical_sha256_bytes"},"source_id":"1512.06658","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bc72e0fd71f76f28fcc3131f5f3bc7992b0db69a2f61ee9a4ab16088c58bcd0c","sha256:aa39af70d6c97d6fa7d746ce5aa9256b3240a9db95d279591d230c91fa32db9a"],"state_sha256":"585d878fc9ef938dfb0973a40e2e6c8d88bcd565a34f636e848a6157b8cb2c82"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pruovSaM1Ck5gFPxbs8od9JoPX1uk0Fs2AaGndQYmiHw+wplAj4LpBFyXzLYoFdtQ8Iu9E5+J4QZhcYMtns3DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-03T03:12:10.381332Z","bundle_sha256":"fbda4503544c6d4e509c7a7eb314fbdda275806df2e3ccc23a4d574c90aa3f49"}}