{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:ZVW5ECRUWAJVX35CYV7SE6PZYJ","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":"a0c88f4d7f3f1616019455896180be888153565b993f2bfab36a4e585ae09491","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T13:57:52Z","title_canon_sha256":"b43a9dd36d82f482b90fcc691e1210960854718a619842d5859df29fbc20a5dd"},"schema_version":"1.0","source":{"id":"2402.04862","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.04862","created_at":"2026-07-05T10:41:45Z"},{"alias_kind":"arxiv_version","alias_value":"2402.04862v3","created_at":"2026-07-05T10:41:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.04862","created_at":"2026-07-05T10:41:45Z"},{"alias_kind":"pith_short_12","alias_value":"ZVW5ECRUWAJV","created_at":"2026-07-05T10:41:45Z"},{"alias_kind":"pith_short_16","alias_value":"ZVW5ECRUWAJVX35C","created_at":"2026-07-05T10:41:45Z"},{"alias_kind":"pith_short_8","alias_value":"ZVW5ECRU","created_at":"2026-07-05T10:41:45Z"}],"graph_snapshots":[{"event_id":"sha256:226ff2318f5747f04044c86e25eb90e86da746a5409da65e1ff0171e2a29002b","target":"graph","created_at":"2026-07-05T10:41:45Z","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/2402.04862/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this article, we present a feedback control method for tactile coverage tasks, such as cleaning or surface inspection. These tasks are challenging to plan due to complex continuous physical interactions. In these tasks, the coverage target and progress can be easily measured using a camera and encoded in a point cloud. We propose an ergodic coverage method that operates directly on point clouds, guiding the robot to spend more time on regions requiring more coverage. For robot control and contact behavior, we use geometric algebra to formulate a task-space impedance controller that tracks a","authors_text":"Cem Bilaloglu, Sylvain Calinon, Tobias L\\\"ow","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T13:57:52Z","title":"Tactile Ergodic Coverage on Curved Surfaces"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.04862","kind":"arxiv","version":3},"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":"sha256:94b89a4fd559ebb412bc6d8791b297b13cdd5d29cc71aac54ddc37b80be658c5","target":"record","created_at":"2026-07-05T10:41:45Z","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":"a0c88f4d7f3f1616019455896180be888153565b993f2bfab36a4e585ae09491","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-02-07T13:57:52Z","title_canon_sha256":"b43a9dd36d82f482b90fcc691e1210960854718a619842d5859df29fbc20a5dd"},"schema_version":"1.0","source":{"id":"2402.04862","kind":"arxiv","version":3}},"canonical_sha256":"cd6dd20a34b0135befa2c57f2279f9c27f7093f958a7917b17b947ff3f1423fa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cd6dd20a34b0135befa2c57f2279f9c27f7093f958a7917b17b947ff3f1423fa","first_computed_at":"2026-07-05T10:41:45.395356Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:41:45.395356Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"QDnpSG/qJw0K52CjLwxaPf2nwUFLC1OJPVMEPU7fPjVvfB6cVQQM12kE62V520oLHI5w7lWyMl95E1zXEOQfDg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:41:45.395863Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.04862","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:94b89a4fd559ebb412bc6d8791b297b13cdd5d29cc71aac54ddc37b80be658c5","sha256:226ff2318f5747f04044c86e25eb90e86da746a5409da65e1ff0171e2a29002b"],"state_sha256":"7ca08abd5afb82ac4aff88d8313766c89ba2a4783020cfb3548c6ccdcfe3a5c3"}