{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:YEODGOQS4A444E22UN6LURLUFO","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":"d5659254a0c2480ad451349acb64117988ae7a33f336df44d4bdd5fb94ae74c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-13T14:16:42Z","title_canon_sha256":"90c52356b8b9cb7621956146d5a628acd9aac643ec3e3c665022161a086652e2"},"schema_version":"1.0","source":{"id":"2508.09836","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2508.09836","created_at":"2026-07-05T11:53:22Z"},{"alias_kind":"arxiv_version","alias_value":"2508.09836v1","created_at":"2026-07-05T11:53:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2508.09836","created_at":"2026-07-05T11:53:22Z"},{"alias_kind":"pith_short_12","alias_value":"YEODGOQS4A44","created_at":"2026-07-05T11:53:22Z"},{"alias_kind":"pith_short_16","alias_value":"YEODGOQS4A444E22","created_at":"2026-07-05T11:53:22Z"},{"alias_kind":"pith_short_8","alias_value":"YEODGOQS","created_at":"2026-07-05T11:53:22Z"}],"graph_snapshots":[{"event_id":"sha256:5a12051f09a115d485364f43830995407e20e3d4a69610134ab805759b7046b5","target":"graph","created_at":"2026-07-05T11:53:22Z","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/2508.09836/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To enable robots to develop human-like fine manipulation, it is essential to understand how mechanical compliance, multi-modal sensing, and purposeful interaction jointly shape tactile perception. In this study, we use a dedicated modular e-Skin with tunable mechanical compliance and multi-modal sensing (normal, shear forces and vibrations) to systematically investigate how sensing embodiment and interaction strategies influence robotic perception of objects. Leveraging a curated set of soft wave objects with controlled viscoelastic and surface properties, we explore a rich set of palpation pr","authors_text":"Alexis WM Devillard, Anirvan Dutta, Etienne Burdet, Xiaoxiao Cheng, Zhihuan Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-13T14:16:42Z","title":"Embodied Tactile Perception of Soft Objects Properties"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2508.09836","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":"sha256:177109cd804cfd0d09a61846c7d3aa05a2d81bb7d1868762f3938e01e715da01","target":"record","created_at":"2026-07-05T11:53:22Z","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":"d5659254a0c2480ad451349acb64117988ae7a33f336df44d4bdd5fb94ae74c5","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-08-13T14:16:42Z","title_canon_sha256":"90c52356b8b9cb7621956146d5a628acd9aac643ec3e3c665022161a086652e2"},"schema_version":"1.0","source":{"id":"2508.09836","kind":"arxiv","version":1}},"canonical_sha256":"c11c333a12e039ce135aa37cba45742b894c82da91c7a8d6f9dfde95ca7c03ca","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c11c333a12e039ce135aa37cba45742b894c82da91c7a8d6f9dfde95ca7c03ca","first_computed_at":"2026-07-05T11:53:22.717486Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:53:22.717486Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"dwDPVcQ0crIIR1muZknmniyZfm9nDj3bUk9eFfII4nHqzyyBQ6cdRFRrkR9apRhiv64Psyl3ZX1SNNI4ljJQCA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:53:22.717990Z","signed_message":"canonical_sha256_bytes"},"source_id":"2508.09836","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:177109cd804cfd0d09a61846c7d3aa05a2d81bb7d1868762f3938e01e715da01","sha256:5a12051f09a115d485364f43830995407e20e3d4a69610134ab805759b7046b5"],"state_sha256":"b42b0e522f7a1489bbebeb5717c042b8945c2b4c75599d1ad26ffe577ce39e24"}