Pith Number

pith:NPZFDOKU

pith:2026:NPZFDOKUAWDFM6VYYLDSD63WP3

not attested not anchored not stored refs pending

ShapeGrasp: Simultaneous Visuo-Haptic Shape Completion and Grasping for Improved Robot Manipulation

Lukas Rustler, Matej Hoffmann

ShapeGrasp updates object shape models with tactile data from real grasps to improve subsequent planning and success rates.

arxiv:2605.02347 v2 · 2026-05-04 · cs.RO

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\usepackage{pith}
\pithnumber{NPZFDOKUAWDFM6VYYLDSD63WP3}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

To the best of our knowledge, this is the first approach that updates shape representations following a real-world grasp. We achieved superior results over baselines for both grippers (grasp success rate of 84% with a three-finger gripper and 91% with a two-finger gripper), while improving the 3D shape reconstruction quality in all evaluation metrics used.

C2weakest assumption

That the fusion of tactile surface contacts and gripper body occupancy with the initial visual estimate produces a sufficiently accurate updated shape model to enable reliable subsequent grasp planning in real-world conditions.

C3one line summary

ShapeGrasp improves grasp success on unknown objects to 84-91% by iteratively updating a 3D shape model with visuo-haptic feedback during real-world grasp attempts.

Formal links

3 machine-checked theorem links

Receipt and verification

First computed	2026-07-01T01:17:51.466015Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6bf251b9540586567ab8c2c721fb767ef1170c244a9a14133950fdce92465626

Aliases

arxiv: 2605.02347 · arxiv_version: 2605.02347v2 · doi: 10.48550/arxiv.2605.02347 · pith_short_12: NPZFDOKUAWDF · pith_short_16: NPZFDOKUAWDFM6VY · pith_short_8: NPZFDOKU

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NPZFDOKUAWDFM6VYYLDSD63WP3 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 6bf251b9540586567ab8c2c721fb767ef1170c244a9a14133950fdce92465626

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "bf3a1e041c8242b412096134e46917db6eda9c90fa39f81ecc8ebcfbd25a33d3",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-04T08:49:52Z",
    "title_canon_sha256": "0f68a57b41a2c3d2864a2fcab40250c534ac552ee1d95c7efaf9a23401772bf2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.02347",
    "kind": "arxiv",
    "version": 2
  }
}