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We present a novel, low cost framework for reconstructing surface contact movements during in-hand manipulations. Unlike many existing methods focused on hand pose tracking, ours models the behavior of contact patches, and by doing so is the first to obtain detailed contact tracking estimates for multi-contact manipulations. Our framework is highly accessible, requiring only low cost, readily available paint materials, a single RGBD camera, and a simple, deterministic interpolation algorithm. Despite its simplicity, we demonstrate the framework’s effectiveness over the course of several manipulations on three common household items. Finally, we demonstrate the use of a generated contact time series in manipulation learning for a simulated robot hand. 

Abstract The XLZD collaboration is developing a two-phase xenon time projection chamber with an active mass of 60–80 t capable of probing the remaining weakly interacting massive particle-nucleon interaction parameter space down to the so-called neutrino fog. In this work we show that, based on the performance of currently operating detectors using the same technology and a realistic reduction of radioactivity in detector materials, such an experiment will also be able to competitively search for neutrinoless double beta decay in¹³⁶Xe using a natural-abundance xenon target. XLZD can reach a 3σdiscovery potential half-life of 5.7 × 10²⁷years (and a 90% CL exclusion of 1.3 × 10²⁸years) with 10 years of data taking, corresponding to a Majorana mass range of 7.3–31.3 meV (4.8–20.5 meV). XLZD will thus exclude the inverted neutrino mass ordering parameter space and will start to probe the normal ordering region for most of the nuclear matrix elements commonly considered by the community.