{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:UC65NXUQDKHLUIAN7EWX3QLN5C","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":"7a89c58f9965518fbef855f6d89ae07e638cec21d1f621e8c5793081b48eb95c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T08:23:34Z","title_canon_sha256":"9fd2af18f1ad07816d50362ab6c66a79f31dc512f97eb7d708b2dc7ba18c94a8"},"schema_version":"1.0","source":{"id":"2606.05848","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.05848","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"arxiv_version","alias_value":"2606.05848v1","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05848","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_12","alias_value":"UC65NXUQDKHL","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_16","alias_value":"UC65NXUQDKHLUIAN","created_at":"2026-06-05T01:15:05Z"},{"alias_kind":"pith_short_8","alias_value":"UC65NXUQ","created_at":"2026-06-05T01:15:05Z"}],"graph_snapshots":[{"event_id":"sha256:c9593e13e71fbf662f52000a8b030f28f01eb52db231e364f137850cdb94ec89","target":"graph","created_at":"2026-06-05T01:15:05Z","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/2606.05848/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we present a robotic ultrasound acquisition system that integrates stereo vision, touch-based feedback, and expert-informed strategies to perform autonomous and adaptive abdominal scans. The system records freehand motion and force data from expert radiologists, creating a framework to capture transducer motion, applied forces, and anatomical scanning strategies. This expert data is replayed to replicate characteristic scans with the robot, forming a foundation for further autonomous capabilities. Using stereo vision, the system generates three-dimensional topography maps of the","authors_text":"Adrian Piedra, Oussama Khatib, R Brooke Jeffrey","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T08:23:34Z","title":"Visuotactile and Explicitly Force-Controlled Robotic Ultrasound for Abdominal Volumetric Reconstruction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05848","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:d19626e1b6c1829fa8379ede5c0326466109e1825929ef71bc7dc308f0319ebb","target":"record","created_at":"2026-06-05T01:15:05Z","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":"7a89c58f9965518fbef855f6d89ae07e638cec21d1f621e8c5793081b48eb95c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T08:23:34Z","title_canon_sha256":"9fd2af18f1ad07816d50362ab6c66a79f31dc512f97eb7d708b2dc7ba18c94a8"},"schema_version":"1.0","source":{"id":"2606.05848","kind":"arxiv","version":1}},"canonical_sha256":"a0bdd6de901a8eba200df92d7dc16de8ae12fcedfdefedbf3253064b1c0c6f40","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a0bdd6de901a8eba200df92d7dc16de8ae12fcedfdefedbf3253064b1c0c6f40","first_computed_at":"2026-06-05T01:15:05.522847Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-05T01:15:05.522847Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"4EECyXsY1Bw8vzc5mkkfDDuqZr653chL/J8jKxs6RovzMasvg+TPugOxuEIr9/gTX1D4rsxppcqcxL6AY+PUBw==","signature_status":"signed_v1","signed_at":"2026-06-05T01:15:05.523397Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.05848","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d19626e1b6c1829fa8379ede5c0326466109e1825929ef71bc7dc308f0319ebb","sha256:c9593e13e71fbf662f52000a8b030f28f01eb52db231e364f137850cdb94ec89"],"state_sha256":"7de3c5c1fbecbf15d2da55a552587f90f1634d7c4b054d8b83683786d51ba516"}