{"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"}