{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:GFXGWZIGEV5MBJFRS443UNZGXA","short_pith_number":"pith:GFXGWZIG","canonical_record":{"source":{"id":"2401.09382","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-17T17:54:38Z","cross_cats_sorted":[],"title_canon_sha256":"03baab4555a877f1c149f2941b76ad75370093d629a8e52c77801ead2257c26e","abstract_canon_sha256":"3aacd87db2e4e33ce0cb14665d856e0a82fc03b5ebefbb2a596bd50c68d35a08"},"schema_version":"1.0"},"canonical_sha256":"316e6b6506257ac0a4b19739ba3726b80d9033d783f2440729fe3fbc948aab2f","source":{"kind":"arxiv","id":"2401.09382","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.09382","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"arxiv_version","alias_value":"2401.09382v1","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.09382","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_12","alias_value":"GFXGWZIGEV5M","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_16","alias_value":"GFXGWZIGEV5MBJFR","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_8","alias_value":"GFXGWZIG","created_at":"2026-07-05T07:34:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:GFXGWZIGEV5MBJFRS443UNZGXA","target":"record","payload":{"canonical_record":{"source":{"id":"2401.09382","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-17T17:54:38Z","cross_cats_sorted":[],"title_canon_sha256":"03baab4555a877f1c149f2941b76ad75370093d629a8e52c77801ead2257c26e","abstract_canon_sha256":"3aacd87db2e4e33ce0cb14665d856e0a82fc03b5ebefbb2a596bd50c68d35a08"},"schema_version":"1.0"},"canonical_sha256":"316e6b6506257ac0a4b19739ba3726b80d9033d783f2440729fe3fbc948aab2f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:34:43.097517Z","signature_b64":"1S3L9vIrniJX4Zvuc9CL9y2g49qHelP6O0vhh8+ws+a1cYSY3aFmBOZggqYdPd37utpJ1K9MLdjpWUQyNke9Bg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"316e6b6506257ac0a4b19739ba3726b80d9033d783f2440729fe3fbc948aab2f","last_reissued_at":"2026-07-05T07:34:43.097180Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:34:43.097180Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2401.09382","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:34:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"syeHkGRPmeG1iTSueYGWmt1P87NUnjNBJ5xHcDv0tswuZk2RJ9TqOXTbZykt1Zb8jdVQLgfMHIhKLhE5kFw8Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T22:59:44.680815Z"},"content_sha256":"b3dbbd63bca0ab66fa6def5912be0d69a2e8640567d3e02b26bb50f8e3e86dd4","schema_version":"1.0","event_id":"sha256:b3dbbd63bca0ab66fa6def5912be0d69a2e8640567d3e02b26bb50f8e3e86dd4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:GFXGWZIGEV5MBJFRS443UNZGXA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jean Oh, Jeffrey Ichnowski, Uksang Yoo, Ziven Lopez","submitted_at":"2024-01-17T17:54:38Z","abstract_excerpt":"Soft robotic shape estimation and proprioception are challenging because of soft robot's complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously deforming body makes it difficult to integrate rigid sensors and to reliably estimate its shape. In this work, we present Proprioceptive Omnidirectional End-effector (POE), which has six embedded microphones across the tendon-driven soft robot's surface. We first introduce novel applications of previously proposed 3D reconstruction methods to acoustic signals from the microphones for soft robot shape proprioception. "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.09382","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/2401.09382/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":"2026-07-05T07:34:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ekQkJMNypvlClFC0+jutzhQYnJp/Irlmc58eXe3JYoPE3yFG3dcxXce0Qgx6obm4myqGK0DlBTn0C6is2tHYCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T22:59:44.681386Z"},"content_sha256":"ffbeb46df0e9a6d9bf231a03c90cac98a8bfe96deb2a5ccda68e2def856c200f","schema_version":"1.0","event_id":"sha256:ffbeb46df0e9a6d9bf231a03c90cac98a8bfe96deb2a5ccda68e2def856c200f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GFXGWZIGEV5MBJFRS443UNZGXA/bundle.json","state_url":"https://pith.science/pith/GFXGWZIGEV5MBJFRS443UNZGXA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GFXGWZIGEV5MBJFRS443UNZGXA/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":"2026-08-20T22:59:44Z","links":{"resolver":"https://pith.science/pith/GFXGWZIGEV5MBJFRS443UNZGXA","bundle":"https://pith.science/pith/GFXGWZIGEV5MBJFRS443UNZGXA/bundle.json","state":"https://pith.science/pith/GFXGWZIGEV5MBJFRS443UNZGXA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GFXGWZIGEV5MBJFRS443UNZGXA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:GFXGWZIGEV5MBJFRS443UNZGXA","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":"3aacd87db2e4e33ce0cb14665d856e0a82fc03b5ebefbb2a596bd50c68d35a08","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-17T17:54:38Z","title_canon_sha256":"03baab4555a877f1c149f2941b76ad75370093d629a8e52c77801ead2257c26e"},"schema_version":"1.0","source":{"id":"2401.09382","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2401.09382","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"arxiv_version","alias_value":"2401.09382v1","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2401.09382","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_12","alias_value":"GFXGWZIGEV5M","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_16","alias_value":"GFXGWZIGEV5MBJFR","created_at":"2026-07-05T07:34:43Z"},{"alias_kind":"pith_short_8","alias_value":"GFXGWZIG","created_at":"2026-07-05T07:34:43Z"}],"graph_snapshots":[{"event_id":"sha256:ffbeb46df0e9a6d9bf231a03c90cac98a8bfe96deb2a5ccda68e2def856c200f","target":"graph","created_at":"2026-07-05T07:34:43Z","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/2401.09382/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft robotic shape estimation and proprioception are challenging because of soft robot's complex deformation behaviors and infinite degrees of freedom. A soft robot's continuously deforming body makes it difficult to integrate rigid sensors and to reliably estimate its shape. In this work, we present Proprioceptive Omnidirectional End-effector (POE), which has six embedded microphones across the tendon-driven soft robot's surface. We first introduce novel applications of previously proposed 3D reconstruction methods to acoustic signals from the microphones for soft robot shape proprioception. ","authors_text":"Jean Oh, Jeffrey Ichnowski, Uksang Yoo, Ziven Lopez","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-17T17:54:38Z","title":"POE: Acoustic Soft Robotic Proprioception for Omnidirectional End-effectors"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.09382","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:b3dbbd63bca0ab66fa6def5912be0d69a2e8640567d3e02b26bb50f8e3e86dd4","target":"record","created_at":"2026-07-05T07:34:43Z","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":"3aacd87db2e4e33ce0cb14665d856e0a82fc03b5ebefbb2a596bd50c68d35a08","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-01-17T17:54:38Z","title_canon_sha256":"03baab4555a877f1c149f2941b76ad75370093d629a8e52c77801ead2257c26e"},"schema_version":"1.0","source":{"id":"2401.09382","kind":"arxiv","version":1}},"canonical_sha256":"316e6b6506257ac0a4b19739ba3726b80d9033d783f2440729fe3fbc948aab2f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"316e6b6506257ac0a4b19739ba3726b80d9033d783f2440729fe3fbc948aab2f","first_computed_at":"2026-07-05T07:34:43.097180Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:34:43.097180Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"1S3L9vIrniJX4Zvuc9CL9y2g49qHelP6O0vhh8+ws+a1cYSY3aFmBOZggqYdPd37utpJ1K9MLdjpWUQyNke9Bg==","signature_status":"signed_v1","signed_at":"2026-07-05T07:34:43.097517Z","signed_message":"canonical_sha256_bytes"},"source_id":"2401.09382","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b3dbbd63bca0ab66fa6def5912be0d69a2e8640567d3e02b26bb50f8e3e86dd4","sha256:ffbeb46df0e9a6d9bf231a03c90cac98a8bfe96deb2a5ccda68e2def856c200f"],"state_sha256":"bfa2173f0f7169f03e6f502cae0773d03bad81cab4de42d37eb1308afa4b8d5e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dbacJZ2lccmK7NsV/KJwYBRpiiLuuF7sM220m4il9nxcrbMeq3QpKs9Utj/Ee6QTP3FptxQDJOqeLRFGhkdkDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T22:59:44.686174Z","bundle_sha256":"071a480c3ce96604411e9095d79a83904376f7577377ce509d7961b9c19283c6"}}