{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:URBB6SDLKL7EXM7U6LEEF3SN5X","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":"692d9af308e1651d90e84b99d382111a3546a2aa6f4ba80d3d3207c701600dc2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T11:28:00Z","title_canon_sha256":"a9d00745c5fb2ee3c590c19e92f3546c2d3e4b6d2d3896641ad1551f405e51b4"},"schema_version":"1.0","source":{"id":"2606.11952","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.11952","created_at":"2026-06-11T01:10:17Z"},{"alias_kind":"arxiv_version","alias_value":"2606.11952v1","created_at":"2026-06-11T01:10:17Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.11952","created_at":"2026-06-11T01:10:17Z"},{"alias_kind":"pith_short_12","alias_value":"URBB6SDLKL7E","created_at":"2026-06-11T01:10:17Z"},{"alias_kind":"pith_short_16","alias_value":"URBB6SDLKL7EXM7U","created_at":"2026-06-11T01:10:17Z"},{"alias_kind":"pith_short_8","alias_value":"URBB6SDL","created_at":"2026-06-11T01:10:17Z"}],"graph_snapshots":[{"event_id":"sha256:f9f5613fcac5f1c662958abf8d3eba3cb02406bfe22e2b2dd2cf4af6064b62bd","target":"graph","created_at":"2026-06-11T01:10:17Z","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/2606.11952/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the best of our knowledge, this is the first sensor to combine these sensing modalities within a single compliant structure. The sensor features a deformable contact surface and can robustly track both flat and curved surfaces across a wide range of materials. Its performance is evaluated through a comprehensive set of experiments that highlight both its capabilities and limitations.","authors_text":"Gabriel Arslan Waltersson, Yiannis Karayiannidis","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T11:28:00Z","title":"Deformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.11952","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":"sha256:154c404bd6ff382ae23223b48815e3720ffb4e840d54a882019ccac608f30977","target":"record","created_at":"2026-06-11T01:10:17Z","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":"692d9af308e1651d90e84b99d382111a3546a2aa6f4ba80d3d3207c701600dc2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-10T11:28:00Z","title_canon_sha256":"a9d00745c5fb2ee3c590c19e92f3546c2d3e4b6d2d3896641ad1551f405e51b4"},"schema_version":"1.0","source":{"id":"2606.11952","kind":"arxiv","version":1}},"canonical_sha256":"a4421f486b52fe4bb3f4f2c842ee4dedfa8dc8ba76e9b300d6239637ce5be951","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a4421f486b52fe4bb3f4f2c842ee4dedfa8dc8ba76e9b300d6239637ce5be951","first_computed_at":"2026-06-11T01:10:17.606509Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-11T01:10:17.606509Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KENdD+SXBfaXdybrHkYqnKr+xPL3nuU/uUEew73DjSljmkTAOyip76Lt449Ijp0Gqu6xp911rPPs8eCt++3iCQ==","signature_status":"signed_v1","signed_at":"2026-06-11T01:10:17.607448Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.11952","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:154c404bd6ff382ae23223b48815e3720ffb4e840d54a882019ccac608f30977","sha256:f9f5613fcac5f1c662958abf8d3eba3cb02406bfe22e2b2dd2cf4af6064b62bd"],"state_sha256":"55f41e97c60d06f7d5feeca34ff2b5221b7f2cb39e7b6e483ad5cb7d9215aa13"}