{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:BFTLNNVVINSBILFI55RNH6ZDX4","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":"8d1cc38e6c0e1b43bf71629a8148d22dc6c83768439708d6ea078766f655487c","cross_cats_sorted":["cs.LG","cs.NE"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-09T06:18:29Z","title_canon_sha256":"7b64166ac38137880a9942cfcc7bc7ed61353095a72bb104bbad52ed2ea5cae1"},"schema_version":"1.0","source":{"id":"1907.04001","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1907.04001","created_at":"2026-05-17T23:40:54Z"},{"alias_kind":"arxiv_version","alias_value":"1907.04001v2","created_at":"2026-05-17T23:40:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1907.04001","created_at":"2026-05-17T23:40:54Z"},{"alias_kind":"pith_short_12","alias_value":"BFTLNNVVINSB","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_16","alias_value":"BFTLNNVVINSBILFI","created_at":"2026-05-18T12:33:12Z"},{"alias_kind":"pith_short_8","alias_value":"BFTLNNVV","created_at":"2026-05-18T12:33:12Z"}],"graph_snapshots":[{"event_id":"sha256:20f871a46fb74188ee140a71495d6816b47a80fd89a557cbe1fcdc4b67da7890","target":"graph","created_at":"2026-05-17T23:40:54Z","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"},"paper":{"abstract_excerpt":"This paper introduces an incremental semantic mapping approach, with on-line unsupervised learning, based on Self-Organizing Maps (SOM) for robotic agents. The method includes a mapping module, which incrementally creates a topological map of the environment, enriched with objects recognized around each topological node, and a module of places categorization, endowed with an incremental unsupervised learning SOM with on-line training. The proposed approach was tested in experiments with real-world data, in which it demonstrates promising capabilities of incremental acquisition of topological m","authors_text":"Hansenclever F. Bassani, Ygor C. N. Sousa","cross_cats":["cs.LG","cs.NE"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-09T06:18:29Z","title":"Incremental Semantic Mapping with Unsupervised On-line Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1907.04001","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":"sha256:50e6f59a44fe5d8535bd954ee7903eb3ab3cb7e0d5efeda9651344e64358998b","target":"record","created_at":"2026-05-17T23:40:54Z","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":"8d1cc38e6c0e1b43bf71629a8148d22dc6c83768439708d6ea078766f655487c","cross_cats_sorted":["cs.LG","cs.NE"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-07-09T06:18:29Z","title_canon_sha256":"7b64166ac38137880a9942cfcc7bc7ed61353095a72bb104bbad52ed2ea5cae1"},"schema_version":"1.0","source":{"id":"1907.04001","kind":"arxiv","version":2}},"canonical_sha256":"0966b6b6b54364142ca8ef62d3fb23bf272d77c6a51ad673f19e861d7e83ae18","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0966b6b6b54364142ca8ef62d3fb23bf272d77c6a51ad673f19e861d7e83ae18","first_computed_at":"2026-05-17T23:40:54.847936Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:40:54.847936Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kSuGGGvimrrmxTOy1gS8H0iAsSqGenVFcRZAkHgm1td/RkZbOaaW8TM1XLto5FziMAZ+oz+l4SLHPyxY8EWLCA==","signature_status":"signed_v1","signed_at":"2026-05-17T23:40:54.848495Z","signed_message":"canonical_sha256_bytes"},"source_id":"1907.04001","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:50e6f59a44fe5d8535bd954ee7903eb3ab3cb7e0d5efeda9651344e64358998b","sha256:20f871a46fb74188ee140a71495d6816b47a80fd89a557cbe1fcdc4b67da7890"],"state_sha256":"8129aa9cd0e56fd3845722c37297068d7665ec051cbb6a8184875bd4b3bd1e74"}