Pith Number

pith:SALUJP6J

pith:2026:SALUJP6JCUZAVGDZT3Z4OODKDM

not attested not anchored not stored refs pending

Physically Grounded 3D Generative Reconstruction under Hand Occlusion using Proprioception and Multi-Contact Touch

Gabriele Mario Caddeo, Lorenzo Natale, Pasquale Marra

Proprioception and multi-contact touch enable metric-scale 3D object reconstruction under severe hand occlusion by constraining surfaces with physical signals.

arxiv:2604.09100 v2 · 2026-04-10 · cs.CV · cs.RO

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\usepackage{pith}
\pithnumber{SALUJP6JCUZAVGDZT3Z4OODKDM}

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Record completeness

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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

Experiments in simulation show that adding proprioception and touch substantially improves completion under occlusion and yields physically plausible reconstructions at correct real-world scale compared to vision-only baselines; we further validate transfer by deploying the model on a real humanoid robot with an end-effector different from those used during training.

C2weakest assumption

The assumption that physics-based objectives and differentiable decoder-guidance during finetuning and inference will reliably reduce hand-object interpenetration and align the surface with contact observations without introducing artifacts or scale errors.

C3one line summary

A conditional diffusion model using proprioception and multi-contact touch produces metric-scale, physically consistent 3D object reconstructions under hand occlusion.

Receipt and verification

First computed	2026-07-01T01:17:50.378988Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

901744bfc915320a98799ef3c7386a1b2014539655cbc011b379db0e8da3e405

Aliases

arxiv: 2604.09100 · arxiv_version: 2604.09100v2 · doi: 10.48550/arxiv.2604.09100 · pith_short_12: SALUJP6JCUZA · pith_short_16: SALUJP6JCUZAVGDZ · pith_short_8: SALUJP6J

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/SALUJP6JCUZAVGDZT3Z4OODKDM \
  | 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: 901744bfc915320a98799ef3c7386a1b2014539655cbc011b379db0e8da3e405

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2fd744e687c0f14c8a41e527ac6cb182c0a6a5181e3a9a32e95d224ecf627aef",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-04-10T08:32:51Z",
    "title_canon_sha256": "8f2d19b219ab013b2fdd644e8e57a4a28d266cc2ccd9736914cf3c0b9347edbf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.09100",
    "kind": "arxiv",
    "version": 2
  }
}