{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:QNDYTVQS3JS3OC33ROPQIQ7YQ6","short_pith_number":"pith:QNDYTVQS","schema_version":"1.0","canonical_sha256":"834789d612da65b70b7b8b9f0443f887b720a923a74aaf167df48b190fd13cf7","source":{"kind":"arxiv","id":"1803.08014","version":1},"attestation_state":"computed","paper":{"title":"Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Kuan-Ting Yu","submitted_at":"2018-03-21T17:12:12Z","abstract_excerpt":"We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space, an enabling technology for robotic packaging.\n  We propose a framework that fuses force and visual sensing for improved accuracy and robustness. Visual sensing is versatile and non-intrusive, but suffers from occlusions and limited accuracy, especially for tasks involving contact. Tactile sensing is local, but provides accuracy and robustness to occlusions."},"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":"1803.08014","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-03-21T17:12:12Z","cross_cats_sorted":[],"title_canon_sha256":"6e361a3f2fc7265de6093caa301e2a8559df1ba0b9c185bfa2ec7da2c461a2d3","abstract_canon_sha256":"22aa71d3c32d2fa42c8bc4193008fec3536e42d40c3eb31528483d316838b3a1"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:20:28.256403Z","signature_b64":"L3Z3zGW4AlAlT7SCoIylyQaHDsgBm2JL5qA3Caiwl0HQpd3N5nsJ+YkP7KdyrCxiSmdRfd1HvRL6zcVwj9EbBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"834789d612da65b70b7b8b9f0443f887b720a923a74aaf167df48b190fd13cf7","last_reissued_at":"2026-05-18T00:20:28.255910Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:20:28.255910Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alberto Rodriguez, Kuan-Ting Yu","submitted_at":"2018-03-21T17:12:12Z","abstract_excerpt":"We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space, an enabling technology for robotic packaging.\n  We propose a framework that fuses force and visual sensing for improved accuracy and robustness. Visual sensing is versatile and non-intrusive, but suffers from occlusions and limited accuracy, especially for tasks involving contact. Tactile sensing is local, but provides accuracy and robustness to occlusions."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1803.08014","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":""},"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":"1803.08014","created_at":"2026-05-18T00:20:28.255987+00:00"},{"alias_kind":"arxiv_version","alias_value":"1803.08014v1","created_at":"2026-05-18T00:20:28.255987+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1803.08014","created_at":"2026-05-18T00:20:28.255987+00:00"},{"alias_kind":"pith_short_12","alias_value":"QNDYTVQS3JS3","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_16","alias_value":"QNDYTVQS3JS3OC33","created_at":"2026-05-18T12:32:46.962924+00:00"},{"alias_kind":"pith_short_8","alias_value":"QNDYTVQS","created_at":"2026-05-18T12:32:46.962924+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/QNDYTVQS3JS3OC33ROPQIQ7YQ6","json":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6.json","graph_json":"https://pith.science/api/pith-number/QNDYTVQS3JS3OC33ROPQIQ7YQ6/graph.json","events_json":"https://pith.science/api/pith-number/QNDYTVQS3JS3OC33ROPQIQ7YQ6/events.json","paper":"https://pith.science/paper/QNDYTVQS"},"agent_actions":{"view_html":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6","download_json":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6.json","view_paper":"https://pith.science/paper/QNDYTVQS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1803.08014&json=true","fetch_graph":"https://pith.science/api/pith-number/QNDYTVQS3JS3OC33ROPQIQ7YQ6/graph.json","fetch_events":"https://pith.science/api/pith-number/QNDYTVQS3JS3OC33ROPQIQ7YQ6/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6/action/timestamp_anchor","attest_storage":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6/action/storage_attestation","attest_author":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6/action/author_attestation","sign_citation":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6/action/citation_signature","submit_replication":"https://pith.science/pith/QNDYTVQS3JS3OC33ROPQIQ7YQ6/action/replication_record"}},"created_at":"2026-05-18T00:20:28.255987+00:00","updated_at":"2026-05-18T00:20:28.255987+00:00"}