{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:ULSCTWKBI7LBBEBLCJDLRIJQA3","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":"bc53c1296c2afc5c631d2bb1bc5a1aec4519bda8ca8c7904fc8826eb50f2136c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-01T15:16:57Z","title_canon_sha256":"8a6163004cb814fc7e929cd2bdbacbf6c0bd3c1439f2e2aced7172769a9fdedb"},"schema_version":"1.0","source":{"id":"1612.00305","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1612.00305","created_at":"2026-07-05T05:33:01Z"},{"alias_kind":"arxiv_version","alias_value":"1612.00305v1","created_at":"2026-07-05T05:33:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1612.00305","created_at":"2026-07-05T05:33:01Z"},{"alias_kind":"pith_short_12","alias_value":"ULSCTWKBI7LB","created_at":"2026-07-05T05:33:01Z"},{"alias_kind":"pith_short_16","alias_value":"ULSCTWKBI7LBBEBL","created_at":"2026-07-05T05:33:01Z"},{"alias_kind":"pith_short_8","alias_value":"ULSCTWKB","created_at":"2026-07-05T05:33:01Z"}],"graph_snapshots":[{"event_id":"sha256:cecb139d57b00500af20c2b2227971cb8320afd7dc13803163d2ce3f8e737bf5","target":"graph","created_at":"2026-07-05T05:33:01Z","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/1612.00305/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper describes a computational model, called the Dirichlet process Gaussian mixture model with latent joints (DPGMM-LJ), that can find latent tree structure embedded in data distribution in an unsupervised manner. By combining DPGMM-LJ and a pre-existing body map formation method, we propose a method that enables an agent having multi-link body structure to discover its kinematic structure, i.e., body schema, from tactile information alone. The DPGMM-LJ is a probabilistic model based on Bayesian nonparametrics and an extension of Dirichlet process Gaussian mixture model (DPGMM). In a sim","authors_text":"Tadahiro Taniguchi, Tetsunari Inamura, Tomohiro Mimura, Yoshinobu Hagiwara","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-01T15:16:57Z","title":"Bayesian Body Schema Estimation using Tactile Information obtained through Coordinated Random Movements"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1612.00305","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:d91685606c891c4f048164929db717b452a897c1697e72f72aac42e6e9c27cd1","target":"record","created_at":"2026-07-05T05:33:01Z","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":"bc53c1296c2afc5c631d2bb1bc5a1aec4519bda8ca8c7904fc8826eb50f2136c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2016-12-01T15:16:57Z","title_canon_sha256":"8a6163004cb814fc7e929cd2bdbacbf6c0bd3c1439f2e2aced7172769a9fdedb"},"schema_version":"1.0","source":{"id":"1612.00305","kind":"arxiv","version":1}},"canonical_sha256":"a2e429d94147d610902b1246b8a13006e1292d2a88e721e0bdde20869c267d22","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a2e429d94147d610902b1246b8a13006e1292d2a88e721e0bdde20869c267d22","first_computed_at":"2026-07-05T05:33:01.924176Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:33:01.924176Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"KcKw9wVgL/9f9pgF5+CxVYduabmmbRgnvnPfYUIjmwXBzfeVHmC3ynglkHf8JBCTrwyKVXRw2YN8iwjlwgGtCg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:33:01.924633Z","signed_message":"canonical_sha256_bytes"},"source_id":"1612.00305","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d91685606c891c4f048164929db717b452a897c1697e72f72aac42e6e9c27cd1","sha256:cecb139d57b00500af20c2b2227971cb8320afd7dc13803163d2ce3f8e737bf5"],"state_sha256":"8ecf7361f6d1ad5f91c7a94dbf41fe87c7938462f30e285c7dc1b38159910388"}