{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:MIUWQZJJK6TTHDIXULYSDBA6QI","short_pith_number":"pith:MIUWQZJJ","canonical_record":{"source":{"id":"2607.06563","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T17:59:44Z","cross_cats_sorted":[],"title_canon_sha256":"ddc4b21eedf7d8a4d13586241ea318015d20d66389d9421c7ba2f930fddbd748","abstract_canon_sha256":"f06a98f40f7b350e151f61138046418e0f008bf86bee1eb0470678d99bf880c8"},"schema_version":"1.0"},"canonical_sha256":"622968652957a7338d17a2f121841e823f23d38682e44efbe97a4a5fa15925ae","source":{"kind":"arxiv","id":"2607.06563","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06563","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06563v1","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06563","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_12","alias_value":"MIUWQZJJK6TT","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_16","alias_value":"MIUWQZJJK6TTHDIX","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_8","alias_value":"MIUWQZJJ","created_at":"2026-07-08T01:19:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:MIUWQZJJK6TTHDIXULYSDBA6QI","target":"record","payload":{"canonical_record":{"source":{"id":"2607.06563","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T17:59:44Z","cross_cats_sorted":[],"title_canon_sha256":"ddc4b21eedf7d8a4d13586241ea318015d20d66389d9421c7ba2f930fddbd748","abstract_canon_sha256":"f06a98f40f7b350e151f61138046418e0f008bf86bee1eb0470678d99bf880c8"},"schema_version":"1.0"},"canonical_sha256":"622968652957a7338d17a2f121841e823f23d38682e44efbe97a4a5fa15925ae","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-08T01:19:30.139683Z","signature_b64":"uGsRNyYx6veGouH6Hq4NVH4uxN0ap3esSZUPo/RbB1beZWPRoOstXT7UpNc5MIqbXMveENvHv8x0sMnvlffmBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"622968652957a7338d17a2f121841e823f23d38682e44efbe97a4a5fa15925ae","last_reissued_at":"2026-07-08T01:19:30.139247Z","signature_status":"signed_v1","first_computed_at":"2026-07-08T01:19:30.139247Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.06563","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":"2026-07-08T01:19:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FdfhUTssEaIo6YbxHSF33QtnaKCGMaAt+j+A/o7+IN0klGr8pDNXBUC8QT/x9m2EElCaXTI2eqpv77dJztX8Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:16:08.533050Z"},"content_sha256":"f4a3dd6b0a6ba5fdd8787d8d904e257b1b6185e0e40913fb22dcf8c9c3a99544","schema_version":"1.0","event_id":"sha256:f4a3dd6b0a6ba5fdd8787d8d904e257b1b6185e0e40913fb22dcf8c9c3a99544"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:MIUWQZJJK6TTHDIXULYSDBA6QI","target":"graph","payload":{"graph_snapshot":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-08T01:19:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LMihNCWSxNaKd3O5fjUwNaiY5zHrW5Bf1pCgSWoibVtfTIHoEVh246p68FFGQ0sAYkhuB1fSJdubcMDfWMixDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-01T07:16:08.533349Z"},"content_sha256":"4fc5afba9b9047e7561d15c425c39df81abbde8824095e83bbd13ef19045b941","schema_version":"1.0","event_id":"sha256:4fc5afba9b9047e7561d15c425c39df81abbde8824095e83bbd13ef19045b941"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/bundle.json","state_url":"https://pith.science/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/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":"2026-08-01T07:16:08Z","links":{"resolver":"https://pith.science/pith/MIUWQZJJK6TTHDIXULYSDBA6QI","bundle":"https://pith.science/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/bundle.json","state":"https://pith.science/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MIUWQZJJK6TTHDIXULYSDBA6QI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MIUWQZJJK6TTHDIXULYSDBA6QI","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":"f06a98f40f7b350e151f61138046418e0f008bf86bee1eb0470678d99bf880c8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T17:59:44Z","title_canon_sha256":"ddc4b21eedf7d8a4d13586241ea318015d20d66389d9421c7ba2f930fddbd748"},"schema_version":"1.0","source":{"id":"2607.06563","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.06563","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"arxiv_version","alias_value":"2607.06563v1","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.06563","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_12","alias_value":"MIUWQZJJK6TT","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_16","alias_value":"MIUWQZJJK6TTHDIX","created_at":"2026-07-08T01:19:30Z"},{"alias_kind":"pith_short_8","alias_value":"MIUWQZJJ","created_at":"2026-07-08T01:19:30Z"}],"graph_snapshots":[{"event_id":"sha256:4fc5afba9b9047e7561d15c425c39df81abbde8824095e83bbd13ef19045b941","target":"graph","created_at":"2026-07-08T01:19:30Z","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/2607.06563/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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 ","authors_text":"Narsimlu Kemsaram, Pengyuan Wei, Prateek Mittal, Shiqi Liu, Sriram Subramanian","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T17:59:44Z","title":"Embodied Human-Robot Interaction via Acoustics: A MARL Approach with AcoustoBots for Spatial Data Physicalization"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.06563","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:f4a3dd6b0a6ba5fdd8787d8d904e257b1b6185e0e40913fb22dcf8c9c3a99544","target":"record","created_at":"2026-07-08T01:19:30Z","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":"f06a98f40f7b350e151f61138046418e0f008bf86bee1eb0470678d99bf880c8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-07T17:59:44Z","title_canon_sha256":"ddc4b21eedf7d8a4d13586241ea318015d20d66389d9421c7ba2f930fddbd748"},"schema_version":"1.0","source":{"id":"2607.06563","kind":"arxiv","version":1}},"canonical_sha256":"622968652957a7338d17a2f121841e823f23d38682e44efbe97a4a5fa15925ae","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"622968652957a7338d17a2f121841e823f23d38682e44efbe97a4a5fa15925ae","first_computed_at":"2026-07-08T01:19:30.139247Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-08T01:19:30.139247Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"uGsRNyYx6veGouH6Hq4NVH4uxN0ap3esSZUPo/RbB1beZWPRoOstXT7UpNc5MIqbXMveENvHv8x0sMnvlffmBw==","signature_status":"signed_v1","signed_at":"2026-07-08T01:19:30.139683Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.06563","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f4a3dd6b0a6ba5fdd8787d8d904e257b1b6185e0e40913fb22dcf8c9c3a99544","sha256:4fc5afba9b9047e7561d15c425c39df81abbde8824095e83bbd13ef19045b941"],"state_sha256":"3721900d419469e5e42ec729c056a59f213237dab193aba2db021b91147c8b02"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G76DysIQ34AroUajAC+vWKH3pP/NLNRE4+/yTMBGLnilCHvX0mWggUOc2syQ7GRhPSihMfk9N7CYviMrBiZuBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-01T07:16:08.536925Z","bundle_sha256":"ea208dbba70e25db202540c24660edc4a67546dc95de9347c732ac58821a6830"}}