{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:IOYT7ZRGHZCKYJYBFEMFC4QSU2","short_pith_number":"pith:IOYT7ZRG","canonical_record":{"source":{"id":"2309.10885","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T19:19:50Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"88f637fa70b046dfc913b8595d529fd51ac72ca6804a918516eb568e2542340c","abstract_canon_sha256":"31d54de335e884139ef6f822078b204f8abbd2c4f8dd27d5ab4152e261c890dd"},"schema_version":"1.0"},"canonical_sha256":"43b13fe6263e44ac27012918517212a6b5cf1b5aed691ecda4b95f86f52d8429","source":{"kind":"arxiv","id":"2309.10885","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.10885","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"arxiv_version","alias_value":"2309.10885v1","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.10885","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_12","alias_value":"IOYT7ZRGHZCK","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_16","alias_value":"IOYT7ZRGHZCKYJYB","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_8","alias_value":"IOYT7ZRG","created_at":"2026-07-05T06:52:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:IOYT7ZRGHZCKYJYBFEMFC4QSU2","target":"record","payload":{"canonical_record":{"source":{"id":"2309.10885","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T19:19:50Z","cross_cats_sorted":["cs.CV"],"title_canon_sha256":"88f637fa70b046dfc913b8595d529fd51ac72ca6804a918516eb568e2542340c","abstract_canon_sha256":"31d54de335e884139ef6f822078b204f8abbd2c4f8dd27d5ab4152e261c890dd"},"schema_version":"1.0"},"canonical_sha256":"43b13fe6263e44ac27012918517212a6b5cf1b5aed691ecda4b95f86f52d8429","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:52:28.005431Z","signature_b64":"NtqdV8y96tPaPIGQJaR4VAxy7O76NpEhrppj67b6TMwWunG4lIJLL4gQhQ6eCqyMSpVEakrgWjARDMjpaQ3mCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"43b13fe6263e44ac27012918517212a6b5cf1b5aed691ecda4b95f86f52d8429","last_reissued_at":"2026-07-05T06:52:28.004986Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:52:28.004986Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.10885","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T06:52:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LxBVlKOtnmhdXLxK8vu2+lkXYImUPIntBUnAr83fAN5d2MOLCUShdz4CqzmTnjxM09FtNzwTHVNdZXU3pmASAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T06:29:45.510163Z"},"content_sha256":"3913c96ba45a8814fc32fc7cdc78534117a3273ce1d055eba8c04b25cb313ed0","schema_version":"1.0","event_id":"sha256:3913c96ba45a8814fc32fc7cdc78534117a3273ce1d055eba8c04b25cb313ed0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:IOYT7ZRGHZCKYJYBFEMFC4QSU2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV"],"primary_cat":"cs.RO","authors_text":"Edward H. Adelson, Jialiang Zhao","submitted_at":"2023-09-19T19:19:50Z","abstract_excerpt":"Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous elements to obtain an extended sensing area similar to the full length of a human finger. Moreover, existing methods to estimate proprioceptive information such as total forces and torques applied on the finger from camera-based tactile sensors are not effective when the contact geometry is complex. We introduce GelSight Svelte, a curved, human finger-sized, sin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10885","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/2309.10885/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":"2026-07-05T06:52:28Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+UzshrLX4uVEV84BgsknrsZUsGwdG1jZ23wK61kJjbJKI4aRPCR1XxqDabz2jgvbkvCmtdgtElpIMb+BQPPyDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T06:29:45.510624Z"},"content_sha256":"4b7ca7f1bd703802984cda07430334aac9ca51bf388a89d25ddb0f5eb8aadb35","schema_version":"1.0","event_id":"sha256:4b7ca7f1bd703802984cda07430334aac9ca51bf388a89d25ddb0f5eb8aadb35"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/bundle.json","state_url":"https://pith.science/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/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":"2026-08-01T06:29:45Z","links":{"resolver":"https://pith.science/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2","bundle":"https://pith.science/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/bundle.json","state":"https://pith.science/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IOYT7ZRGHZCKYJYBFEMFC4QSU2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:IOYT7ZRGHZCKYJYBFEMFC4QSU2","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":"31d54de335e884139ef6f822078b204f8abbd2c4f8dd27d5ab4152e261c890dd","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T19:19:50Z","title_canon_sha256":"88f637fa70b046dfc913b8595d529fd51ac72ca6804a918516eb568e2542340c"},"schema_version":"1.0","source":{"id":"2309.10885","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.10885","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"arxiv_version","alias_value":"2309.10885v1","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.10885","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_12","alias_value":"IOYT7ZRGHZCK","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_16","alias_value":"IOYT7ZRGHZCKYJYB","created_at":"2026-07-05T06:52:28Z"},{"alias_kind":"pith_short_8","alias_value":"IOYT7ZRG","created_at":"2026-07-05T06:52:28Z"}],"graph_snapshots":[{"event_id":"sha256:4b7ca7f1bd703802984cda07430334aac9ca51bf388a89d25ddb0f5eb8aadb35","target":"graph","created_at":"2026-07-05T06:52:28Z","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/2309.10885/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Camera-based tactile sensing is a low-cost, popular approach to obtain highly detailed contact geometry information. However, most existing camera-based tactile sensors are fingertip sensors, and longer fingers often require extraneous elements to obtain an extended sensing area similar to the full length of a human finger. Moreover, existing methods to estimate proprioceptive information such as total forces and torques applied on the finger from camera-based tactile sensors are not effective when the contact geometry is complex. We introduce GelSight Svelte, a curved, human finger-sized, sin","authors_text":"Edward H. Adelson, Jialiang Zhao","cross_cats":["cs.CV"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T19:19:50Z","title":"GelSight Svelte: A Human Finger-shaped Single-camera Tactile Robot Finger with Large Sensing Coverage and Proprioceptive Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.10885","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":"sha256:3913c96ba45a8814fc32fc7cdc78534117a3273ce1d055eba8c04b25cb313ed0","target":"record","created_at":"2026-07-05T06:52:28Z","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":"31d54de335e884139ef6f822078b204f8abbd2c4f8dd27d5ab4152e261c890dd","cross_cats_sorted":["cs.CV"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-19T19:19:50Z","title_canon_sha256":"88f637fa70b046dfc913b8595d529fd51ac72ca6804a918516eb568e2542340c"},"schema_version":"1.0","source":{"id":"2309.10885","kind":"arxiv","version":1}},"canonical_sha256":"43b13fe6263e44ac27012918517212a6b5cf1b5aed691ecda4b95f86f52d8429","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"43b13fe6263e44ac27012918517212a6b5cf1b5aed691ecda4b95f86f52d8429","first_computed_at":"2026-07-05T06:52:28.004986Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:52:28.004986Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"NtqdV8y96tPaPIGQJaR4VAxy7O76NpEhrppj67b6TMwWunG4lIJLL4gQhQ6eCqyMSpVEakrgWjARDMjpaQ3mCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:52:28.005431Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.10885","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3913c96ba45a8814fc32fc7cdc78534117a3273ce1d055eba8c04b25cb313ed0","sha256:4b7ca7f1bd703802984cda07430334aac9ca51bf388a89d25ddb0f5eb8aadb35"],"state_sha256":"1c6b2832a767d3bfb61d0973227f5967bc8078993ee9f87b27cb0b7321ffbb98"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"julJzgQC6IGizwsybeLmucZwMlozOQ6wj/8XafpCufjUSs2RP3Tgqm9YfZKlfCx9v0mqM7r4MFg1ExC9BL2wAw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T06:29:45.514421Z","bundle_sha256":"b2099e06d4f4d2e32c50e1185735f2c4e045421d68c3e52a77a4a082e3e8bafc"}}