{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:TWKNRYZYRHWTRKWXN3YU7SC6L5","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":"e518701eff4f785968355c0bcec3648ed683170c2869fe7bd6bbe797e94acd9f","cross_cats_sorted":["cs.SD","eess.AS"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-13T05:50:13Z","title_canon_sha256":"0ed84ed5d9f02afc486db39af64a1a9f88783e5227d6e58688c7d7e65da9cd7d"},"schema_version":"1.0","source":{"id":"2412.09878","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.09878","created_at":"2026-07-05T09:48:43Z"},{"alias_kind":"arxiv_version","alias_value":"2412.09878v1","created_at":"2026-07-05T09:48:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.09878","created_at":"2026-07-05T09:48:43Z"},{"alias_kind":"pith_short_12","alias_value":"TWKNRYZYRHWT","created_at":"2026-07-05T09:48:43Z"},{"alias_kind":"pith_short_16","alias_value":"TWKNRYZYRHWTRKWX","created_at":"2026-07-05T09:48:43Z"},{"alias_kind":"pith_short_8","alias_value":"TWKNRYZY","created_at":"2026-07-05T09:48:43Z"}],"graph_snapshots":[{"event_id":"sha256:0b8ff774fb0a2445b56329d93fe90a37d3aa738e548c28226f6dc4e95f16914e","target":"graph","created_at":"2026-07-05T09:48:43Z","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/2412.09878/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In cluttered environments where visual sensors encounter heavy occlusion, such as in agricultural settings, tactile signals can provide crucial spatial information for the robot to locate rigid objects and maneuver around them. We introduce SonicBoom, a holistic hardware and learning pipeline that enables contact localization through an array of contact microphones. While conventional sound source localization methods effectively triangulate sources in air, localization through solid media with irregular geometry and structure presents challenges that are difficult to model analytically. We ad","authors_text":"George Kantor, Jean Oh, Jeffrey Ichnowski, Moonyoung Lee, Oliver Kroemer, Uksang Yoo","cross_cats":["cs.SD","eess.AS"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-13T05:50:13Z","title":"SonicBoom: Contact Localization Using Array of Microphones"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.09878","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:bee222b72adef7053b57edb8e844ae480960266a1150376e843b0cb66fdffffa","target":"record","created_at":"2026-07-05T09:48:43Z","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":"e518701eff4f785968355c0bcec3648ed683170c2869fe7bd6bbe797e94acd9f","cross_cats_sorted":["cs.SD","eess.AS"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2024-12-13T05:50:13Z","title_canon_sha256":"0ed84ed5d9f02afc486db39af64a1a9f88783e5227d6e58688c7d7e65da9cd7d"},"schema_version":"1.0","source":{"id":"2412.09878","kind":"arxiv","version":1}},"canonical_sha256":"9d94d8e33889ed38aad76ef14fc85e5f7b5c75fccf23e19c01d119d6f40e52e4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9d94d8e33889ed38aad76ef14fc85e5f7b5c75fccf23e19c01d119d6f40e52e4","first_computed_at":"2026-07-05T09:48:43.278734Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:48:43.278734Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ApmyPxFaqnd03vwJfe3D9f19G7GBWOaC0IRGPC7iOBPOBeaKx0hdKrCRq2efns5MHp9zCF1mhGW1Zmw4Q1q9DA==","signature_status":"signed_v1","signed_at":"2026-07-05T09:48:43.279212Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.09878","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:bee222b72adef7053b57edb8e844ae480960266a1150376e843b0cb66fdffffa","sha256:0b8ff774fb0a2445b56329d93fe90a37d3aa738e548c28226f6dc4e95f16914e"],"state_sha256":"d5cca5d49be633381bb9a52182ac8c91275316ab75cde38e1ed77f8e27f61697"}