{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:OBUJLE3BLEWYESRHEAIEOVVKNU","short_pith_number":"pith:OBUJLE3B","schema_version":"1.0","canonical_sha256":"7068959361592d824a2720104756aa6d135a53aa52e93f69675e1a6d44eedb13","source":{"kind":"arxiv","id":"2412.09617","version":2},"attestation_state":"computed","paper":{"title":"NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hung-Jui Huang, Michael Kaess, Wenzhen Yuan","submitted_at":"2024-12-12T18:59:46Z","abstract_excerpt":"Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D reconstruction. In this work, we introduce NormalFlow, a fast, robust, and real-time tactile-based 6DoF tracking algorithm. Leveraging the precise surface normal estimation of vision-based tactile sensors, NormalFlow determines object movements by minimizing discrepancies between the tactile-derived surface normals. Our results show that NormalFlow consistently "},"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":"2412.09617","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-12T18:59:46Z","cross_cats_sorted":[],"title_canon_sha256":"fe4cd0e8d65a890277a100267fd87fe5a443ab3d094d4e22d7683fa773794b22","abstract_canon_sha256":"cc43e010e3b53d367376b918f3be91535284e3a0d1707ff8b3da408c3abd65c5"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:33:07.404549Z","signature_b64":"0oNiyizOvtTfTieU+YQ6SaLgwnNwULl/nZIAGUmmrc8ilIuNccg184Y8wL9MAPcNntgS98siviQqkHLbbP8ADA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7068959361592d824a2720104756aa6d135a53aa52e93f69675e1a6d44eedb13","last_reissued_at":"2026-07-05T10:33:07.403632Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:33:07.403632Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"NormalFlow: Fast, Robust, and Accurate Contact-based Object 6DoF Pose Tracking with Vision-based Tactile Sensors","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hung-Jui Huang, Michael Kaess, Wenzhen Yuan","submitted_at":"2024-12-12T18:59:46Z","abstract_excerpt":"Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D reconstruction. In this work, we introduce NormalFlow, a fast, robust, and real-time tactile-based 6DoF tracking algorithm. Leveraging the precise surface normal estimation of vision-based tactile sensors, NormalFlow determines object movements by minimizing discrepancies between the tactile-derived surface normals. Our results show that NormalFlow consistently "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.09617","kind":"arxiv","version":2},"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/2412.09617/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":"2412.09617","created_at":"2026-07-05T10:33:07.403744+00:00"},{"alias_kind":"arxiv_version","alias_value":"2412.09617v2","created_at":"2026-07-05T10:33:07.403744+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.09617","created_at":"2026-07-05T10:33:07.403744+00:00"},{"alias_kind":"pith_short_12","alias_value":"OBUJLE3BLEWY","created_at":"2026-07-05T10:33:07.403744+00:00"},{"alias_kind":"pith_short_16","alias_value":"OBUJLE3BLEWYESRH","created_at":"2026-07-05T10:33:07.403744+00:00"},{"alias_kind":"pith_short_8","alias_value":"OBUJLE3B","created_at":"2026-07-05T10:33:07.403744+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/OBUJLE3BLEWYESRHEAIEOVVKNU","json":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU.json","graph_json":"https://pith.science/api/pith-number/OBUJLE3BLEWYESRHEAIEOVVKNU/graph.json","events_json":"https://pith.science/api/pith-number/OBUJLE3BLEWYESRHEAIEOVVKNU/events.json","paper":"https://pith.science/paper/OBUJLE3B"},"agent_actions":{"view_html":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU","download_json":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU.json","view_paper":"https://pith.science/paper/OBUJLE3B","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2412.09617&json=true","fetch_graph":"https://pith.science/api/pith-number/OBUJLE3BLEWYESRHEAIEOVVKNU/graph.json","fetch_events":"https://pith.science/api/pith-number/OBUJLE3BLEWYESRHEAIEOVVKNU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU/action/storage_attestation","attest_author":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU/action/author_attestation","sign_citation":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU/action/citation_signature","submit_replication":"https://pith.science/pith/OBUJLE3BLEWYESRHEAIEOVVKNU/action/replication_record"}},"created_at":"2026-07-05T10:33:07.403744+00:00","updated_at":"2026-07-05T10:33:07.403744+00:00"}