{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:IMP6HUPQLUPLF4SBZN3FMCDZG4","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":"15c27448e0faba06da4509daf7dd9d243f331a77ffd283ae4a5fa62ae9ce2d66","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-29T20:43:01Z","title_canon_sha256":"416222ddb4e29ad6450e8a7667b629e30877ff74398d11161b9fed6626b13858"},"schema_version":"1.0","source":{"id":"2409.19770","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2409.19770","created_at":"2026-07-05T09:13:22Z"},{"alias_kind":"arxiv_version","alias_value":"2409.19770v1","created_at":"2026-07-05T09:13:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2409.19770","created_at":"2026-07-05T09:13:22Z"},{"alias_kind":"pith_short_12","alias_value":"IMP6HUPQLUPL","created_at":"2026-07-05T09:13:22Z"},{"alias_kind":"pith_short_16","alias_value":"IMP6HUPQLUPLF4SB","created_at":"2026-07-05T09:13:22Z"},{"alias_kind":"pith_short_8","alias_value":"IMP6HUPQ","created_at":"2026-07-05T09:13:22Z"}],"graph_snapshots":[{"event_id":"sha256:44c7d322fada10807af38fd5a067fa4385a36d48e504d12226cf33446a64ec47","target":"graph","created_at":"2026-07-05T09:13:22Z","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/2409.19770/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and accessibility across research and hobbyist communities. Building upon the GelSlim 3.0 sensor, our design features two key improvements: a simplified, modifiable finger structure and easily manufacturable lenses. To complement the hardware, we provide an open-source perception library that includes depth and shear field estimation algorithms to enable in-hand pose e","authors_text":"Andrea Sipos, Nima Fazeli, William van den Bogert","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-29T20:43:01Z","title":"GelSlim 4.0: Focusing on Touch and Reproducibility"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2409.19770","kind":"arxiv","version":1},"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":"sha256:187162cdeb466bd21a43779a36b7e5d426d1fcd47c7b5c2b0517cdef5c206322","target":"record","created_at":"2026-07-05T09:13:22Z","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":"15c27448e0faba06da4509daf7dd9d243f331a77ffd283ae4a5fa62ae9ce2d66","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-09-29T20:43:01Z","title_canon_sha256":"416222ddb4e29ad6450e8a7667b629e30877ff74398d11161b9fed6626b13858"},"schema_version":"1.0","source":{"id":"2409.19770","kind":"arxiv","version":1}},"canonical_sha256":"431fe3d1f05d1eb2f241cb765608793726820fbd2aefd3118c53a9e1108b9568","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"431fe3d1f05d1eb2f241cb765608793726820fbd2aefd3118c53a9e1108b9568","first_computed_at":"2026-07-05T09:13:22.276754Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:13:22.276754Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"p8B2Z/VCzcrTQg+grJ/yfpJGU9oN0GFf6jLDROyJZTdRhCNbinVmqmPXfoTHSMfdGpPO2FAneyYD1SJRI2vlCw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:13:22.277236Z","signed_message":"canonical_sha256_bytes"},"source_id":"2409.19770","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:187162cdeb466bd21a43779a36b7e5d426d1fcd47c7b5c2b0517cdef5c206322","sha256:44c7d322fada10807af38fd5a067fa4385a36d48e504d12226cf33446a64ec47"],"state_sha256":"96fb670f1f72bcb93afd4b816091fc9b2fb44915ce5a673f79b9c4163a4d8a25"}