{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:HR37VR6S45WG4J4XFQLINQC6PG","short_pith_number":"pith:HR37VR6S","schema_version":"1.0","canonical_sha256":"3c77fac7d2e76c6e27972c1686c05e79961d777ca8a5acf3c5b229da2f1acc80","source":{"kind":"arxiv","id":"2312.13469","version":1},"attestation_state":"computed","paper":{"title":"Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Haozhi Qi, Jitendra Malik, Joseph Ortiz, Luis Pineda, Michael Kaess, Mike Lambeta, Mrinal Kalakrishnan, Mustafa Mukadam, Roberto Calandra, Sudharshan Suresh, Taosha Fan, Tingfan Wu","submitted_at":"2023-12-20T22:36:37Z","abstract_excerpt":"To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose and shape. The status quo for in-hand perception primarily employs vision, and restricts to tracking a priori known objects. Moreover, visual occlusion of objects in-hand is imminent during manipulation, preventing current systems to push beyond tasks without occlusion. We combine vision and touch sensing on a multi-fingered hand to estimate an object's pose a"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2312.13469","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-20T22:36:37Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"324209d7dc93d92fd34f63536279b93220c22efc6327980dbd436ce2482e4a09","abstract_canon_sha256":"be5accd9d9bbca682c57184079dbb4c5926e0787e9fb6984f3cab2fa9b271b83"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:26:44.999824Z","signature_b64":"TKOWh3dxgW3sTaI3wyXZwEp5gxAINhhnKLdYT4Zy4a/jYr2rCYYLJ2GRWYpu6usv8yKurAQhlwnwuK1STzPWAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3c77fac7d2e76c6e27972c1686c05e79961d777ca8a5acf3c5b229da2f1acc80","last_reissued_at":"2026-07-05T07:26:44.999407Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:26:44.999407Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Haozhi Qi, Jitendra Malik, Joseph Ortiz, Luis Pineda, Michael Kaess, Mike Lambeta, Mrinal Kalakrishnan, Mustafa Mukadam, Roberto Calandra, Sudharshan Suresh, Taosha Fan, Tingfan Wu","submitted_at":"2023-12-20T22:36:37Z","abstract_excerpt":"To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object's pose and shape. The status quo for in-hand perception primarily employs vision, and restricts to tracking a priori known objects. Moreover, visual occlusion of objects in-hand is imminent during manipulation, preventing current systems to push beyond tasks without occlusion. We combine vision and touch sensing on a multi-fingered hand to estimate an object's pose a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.13469","kind":"arxiv","version":1},"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/2312.13469/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2312.13469","created_at":"2026-07-05T07:26:44.999456+00:00"},{"alias_kind":"arxiv_version","alias_value":"2312.13469v1","created_at":"2026-07-05T07:26:44.999456+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.13469","created_at":"2026-07-05T07:26:44.999456+00:00"},{"alias_kind":"pith_short_12","alias_value":"HR37VR6S45WG","created_at":"2026-07-05T07:26:44.999456+00:00"},{"alias_kind":"pith_short_16","alias_value":"HR37VR6S45WG4J4X","created_at":"2026-07-05T07:26:44.999456+00:00"},{"alias_kind":"pith_short_8","alias_value":"HR37VR6S","created_at":"2026-07-05T07:26:44.999456+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG","json":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG.json","graph_json":"https://pith.science/api/pith-number/HR37VR6S45WG4J4XFQLINQC6PG/graph.json","events_json":"https://pith.science/api/pith-number/HR37VR6S45WG4J4XFQLINQC6PG/events.json","paper":"https://pith.science/paper/HR37VR6S"},"agent_actions":{"view_html":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG","download_json":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG.json","view_paper":"https://pith.science/paper/HR37VR6S","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2312.13469&json=true","fetch_graph":"https://pith.science/api/pith-number/HR37VR6S45WG4J4XFQLINQC6PG/graph.json","fetch_events":"https://pith.science/api/pith-number/HR37VR6S45WG4J4XFQLINQC6PG/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG/action/timestamp_anchor","attest_storage":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG/action/storage_attestation","attest_author":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG/action/author_attestation","sign_citation":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG/action/citation_signature","submit_replication":"https://pith.science/pith/HR37VR6S45WG4J4XFQLINQC6PG/action/replication_record"}},"created_at":"2026-07-05T07:26:44.999456+00:00","updated_at":"2026-07-05T07:26:44.999456+00:00"}