{"paper":{"title":"Embodied Human-Robot Interaction via Acoustics: A MARL Approach with AcoustoBots for Spatial Data Physicalization","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Narsimlu Kemsaram, Pengyuan Wei, Prateek Mittal, Shiqi Liu, Sriram Subramanian","submitted_at":"2026-07-07T17:59:44Z","abstract_excerpt":"Traditional data physicalization is often static and disconnected from real environments, limiting its ability to convey embodied spatial dynamics and engage users. To address this limitation, we present AcoustoBots, a mobile acoustophoretic data-physicalization platform in which TurtleBot3 robots carry upward-facing 8 x 8 ultrasonic phased arrays. Each array levitates a particle whose height (1-10 cm) encodes a local urban scalar value, such as population density, noise, or traffic. A MARL (Multi-Agent Reinforcement Learning) policy based on the Multi-Agent Deep Deterministic Policy Gradient "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06563","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.06563/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"}