{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:4RMNN36SBZRL7CJNXFZ5L7DPTM","short_pith_number":"pith:4RMNN36S","canonical_record":{"source":{"id":"2212.08742","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T22:45:30Z","cross_cats_sorted":[],"title_canon_sha256":"ff4587ee551a36c0b84642650568b0eb9fefe8f90afc93e7b4b6464f7ec61a3c","abstract_canon_sha256":"42b125fe4e9c02835de7d39dddacd2ee1df964f9101f26b6f20d06b16ae7cc7f"},"schema_version":"1.0"},"canonical_sha256":"e458d6efd20e62bf892db973d5fc6f9b286de1be084e65f44f6c02d05331992d","source":{"kind":"arxiv","id":"2212.08742","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.08742","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"arxiv_version","alias_value":"2212.08742v2","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.08742","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_12","alias_value":"4RMNN36SBZRL","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"4RMNN36SBZRL7CJN","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"4RMNN36S","created_at":"2026-07-05T07:31:21Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:4RMNN36SBZRL7CJNXFZ5L7DPTM","target":"record","payload":{"canonical_record":{"source":{"id":"2212.08742","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T22:45:30Z","cross_cats_sorted":[],"title_canon_sha256":"ff4587ee551a36c0b84642650568b0eb9fefe8f90afc93e7b4b6464f7ec61a3c","abstract_canon_sha256":"42b125fe4e9c02835de7d39dddacd2ee1df964f9101f26b6f20d06b16ae7cc7f"},"schema_version":"1.0"},"canonical_sha256":"e458d6efd20e62bf892db973d5fc6f9b286de1be084e65f44f6c02d05331992d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:31:21.068154Z","signature_b64":"Il2DjovnCkPcYp0/iDnxTa91500AMBnOLbfIS4muoUddZ66oXdrVI2iyeGsrha2U+go9dQQ9+x9vbSp1XD80AA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e458d6efd20e62bf892db973d5fc6f9b286de1be084e65f44f6c02d05331992d","last_reissued_at":"2026-07-05T07:31:21.067639Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:31:21.067639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2212.08742","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:31:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oIHfefCAOYn7B7oBpgAPTIfVr1vSZEr+TLh16Dr9HH+KbXU/hTh3SRKhv2fAWFFjewwLahJaITD7HX0MZet8DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T12:56:44.476412Z"},"content_sha256":"63f23811a18928c9ae0b8d2f078668724ad12ba476a074d46654c745b53427a3","schema_version":"1.0","event_id":"sha256:63f23811a18928c9ae0b8d2f078668724ad12ba476a074d46654c745b53427a3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:4RMNN36SBZRL7CJNXFZ5L7DPTM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kris Hauser, Ninghan Zhong","submitted_at":"2022-12-16T22:45:30Z","abstract_excerpt":"Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable when the operator is unaware of the obstacle but undesirable when the movement is intentional, such as when the operator wishes to inspect or manipulate an object. This paper presents a novel haptic teleoperation framework that estimates the operator's attentiveness to obstacles and dampens haptic feedback for intentional movement. A biologically-inspired atte"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.08742","kind":"arxiv","version":2},"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/2212.08742/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:31:21Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zcc5ieIp5x9fpF/cVJ3HEyX//D6TFiBHvXVCDiZ3chOjbWBmTxVXqcQx8wmB186nYNfwCfei4pT9BMKaCjpUAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-14T12:56:44.476792Z"},"content_sha256":"5a67319688cb8e49a53be48589419c1ab990280d5f128dfe2b83df4c6e1abcb8","schema_version":"1.0","event_id":"sha256:5a67319688cb8e49a53be48589419c1ab990280d5f128dfe2b83df4c6e1abcb8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/bundle.json","state_url":"https://pith.science/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-14T12:56:44Z","links":{"resolver":"https://pith.science/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM","bundle":"https://pith.science/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/bundle.json","state":"https://pith.science/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/4RMNN36SBZRL7CJNXFZ5L7DPTM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:4RMNN36SBZRL7CJNXFZ5L7DPTM","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":"42b125fe4e9c02835de7d39dddacd2ee1df964f9101f26b6f20d06b16ae7cc7f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T22:45:30Z","title_canon_sha256":"ff4587ee551a36c0b84642650568b0eb9fefe8f90afc93e7b4b6464f7ec61a3c"},"schema_version":"1.0","source":{"id":"2212.08742","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2212.08742","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"arxiv_version","alias_value":"2212.08742v2","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2212.08742","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_12","alias_value":"4RMNN36SBZRL","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_16","alias_value":"4RMNN36SBZRL7CJN","created_at":"2026-07-05T07:31:21Z"},{"alias_kind":"pith_short_8","alias_value":"4RMNN36S","created_at":"2026-07-05T07:31:21Z"}],"graph_snapshots":[{"event_id":"sha256:5a67319688cb8e49a53be48589419c1ab990280d5f128dfe2b83df4c6e1abcb8","target":"graph","created_at":"2026-07-05T07:31:21Z","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/2212.08742/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable when the operator is unaware of the obstacle but undesirable when the movement is intentional, such as when the operator wishes to inspect or manipulate an object. This paper presents a novel haptic teleoperation framework that estimates the operator's attentiveness to obstacles and dampens haptic feedback for intentional movement. A biologically-inspired atte","authors_text":"Kris Hauser, Ninghan Zhong","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T22:45:30Z","title":"Attentiveness Map Estimation for Haptic Teleoperation of Mobile Robot Obstacle Avoidance and Approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2212.08742","kind":"arxiv","version":2},"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":"sha256:63f23811a18928c9ae0b8d2f078668724ad12ba476a074d46654c745b53427a3","target":"record","created_at":"2026-07-05T07:31:21Z","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":"42b125fe4e9c02835de7d39dddacd2ee1df964f9101f26b6f20d06b16ae7cc7f","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-12-16T22:45:30Z","title_canon_sha256":"ff4587ee551a36c0b84642650568b0eb9fefe8f90afc93e7b4b6464f7ec61a3c"},"schema_version":"1.0","source":{"id":"2212.08742","kind":"arxiv","version":2}},"canonical_sha256":"e458d6efd20e62bf892db973d5fc6f9b286de1be084e65f44f6c02d05331992d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e458d6efd20e62bf892db973d5fc6f9b286de1be084e65f44f6c02d05331992d","first_computed_at":"2026-07-05T07:31:21.067639Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:31:21.067639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Il2DjovnCkPcYp0/iDnxTa91500AMBnOLbfIS4muoUddZ66oXdrVI2iyeGsrha2U+go9dQQ9+x9vbSp1XD80AA==","signature_status":"signed_v1","signed_at":"2026-07-05T07:31:21.068154Z","signed_message":"canonical_sha256_bytes"},"source_id":"2212.08742","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:63f23811a18928c9ae0b8d2f078668724ad12ba476a074d46654c745b53427a3","sha256:5a67319688cb8e49a53be48589419c1ab990280d5f128dfe2b83df4c6e1abcb8"],"state_sha256":"7e97b2cbe572d6a790eda7cf33be1c6a455d2be807ca5a5e92c544222dd3a9ec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2hvdN7jMDrD1BOUqFzXJnF7S/63CBi7Ppz6SWQ8DWX11plzbKPwTKX025ZzoBz6Y+8geCzFet1wjwyxAnm/eAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-14T12:56:44.478894Z","bundle_sha256":"2b83a4d4c0448aa449c54901e19c7c6eb90b3fa168838a5e126e13d7ce38fb5e"}}