{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:BORRZII4FTJ3QQ35DUJHACRO7H","short_pith_number":"pith:BORRZII4","canonical_record":{"source":{"id":"1805.07868","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T02:19:58Z","cross_cats_sorted":[],"title_canon_sha256":"d5382697d3642a454e52258befb8ccba53836abd1a32412d4806f230e14600d8","abstract_canon_sha256":"9502e0554a5f3501cb50d9392b5386ad38c35a39c2e2744c66272d9df8466979"},"schema_version":"1.0"},"canonical_sha256":"0ba31ca11c2cd3b8437d1d12700a2ef9fd0b8a43a5ad91a3e8e44519150690b4","source":{"kind":"arxiv","id":"1805.07868","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07868","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07868v1","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07868","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"pith_short_12","alias_value":"BORRZII4FTJ3","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BORRZII4FTJ3QQ35","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BORRZII4","created_at":"2026-05-18T12:32:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:BORRZII4FTJ3QQ35DUJHACRO7H","target":"record","payload":{"canonical_record":{"source":{"id":"1805.07868","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T02:19:58Z","cross_cats_sorted":[],"title_canon_sha256":"d5382697d3642a454e52258befb8ccba53836abd1a32412d4806f230e14600d8","abstract_canon_sha256":"9502e0554a5f3501cb50d9392b5386ad38c35a39c2e2744c66272d9df8466979"},"schema_version":"1.0"},"canonical_sha256":"0ba31ca11c2cd3b8437d1d12700a2ef9fd0b8a43a5ad91a3e8e44519150690b4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:15:32.313368Z","signature_b64":"msFX/pGw3tXdfv8errDOJK6apO6xiwZsA8kqjAjkRaApFidXb8DSsqnfwh8qrdVIc7HlGLvtHeoHqnMhGuYIBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0ba31ca11c2cd3b8437d1d12700a2ef9fd0b8a43a5ad91a3e8e44519150690b4","last_reissued_at":"2026-05-18T00:15:32.312693Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:15:32.312693Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.07868","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:15:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"AWLkFwUZKMgjrKbEbEmgiu5ZWg9foCQkjmqhUM2ixcReflZulIZHaRO7ichAAld7S89Y0xA0tx+hZp6YCDvdBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:48:45.169449Z"},"content_sha256":"fe17f7ef585a780faa105921afce055a505610280ec054393080d91a5c4af6a8","schema_version":"1.0","event_id":"sha256:fe17f7ef585a780faa105921afce055a505610280ec054393080d91a5c4af6a8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:BORRZII4FTJ3QQ35DUJHACRO7H","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"John Lloyd, Luke Cramphorn, Nathan F. Lepora","submitted_at":"2018-05-21T02:19:58Z","abstract_excerpt":"There are a wide range of features that tactile contact provides, each with different aspects of information that can be used for object grasping, manipulation, and perception. In this paper inference of some key tactile features, tip displacement, contact location, shear direction and magnitude, is demonstrated by introducing a novel method of transducing a third dimension to the sensor data via Voronoi tessellation. The inferred features are displayed throughout the work in a new visualisation mode derived from the Voronoi tessellation; these visualisations create easier interpretation of da"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07868","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:15:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jtAknN4kuVGAeqJsc/hGoM33CVfO9J74prHUiMAy5OhMTIIoKJMzrKufF10s0ZjvkJhmIbuGPvEugWbppbQACQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:48:45.169811Z"},"content_sha256":"148060bbeacf31ff3e07e29e912a6f2e5d4c3cfb3e6d3f341b6bbf9549b98d72","schema_version":"1.0","event_id":"sha256:148060bbeacf31ff3e07e29e912a6f2e5d4c3cfb3e6d3f341b6bbf9549b98d72"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BORRZII4FTJ3QQ35DUJHACRO7H/bundle.json","state_url":"https://pith.science/pith/BORRZII4FTJ3QQ35DUJHACRO7H/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BORRZII4FTJ3QQ35DUJHACRO7H/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-07T05:48:45Z","links":{"resolver":"https://pith.science/pith/BORRZII4FTJ3QQ35DUJHACRO7H","bundle":"https://pith.science/pith/BORRZII4FTJ3QQ35DUJHACRO7H/bundle.json","state":"https://pith.science/pith/BORRZII4FTJ3QQ35DUJHACRO7H/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BORRZII4FTJ3QQ35DUJHACRO7H/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:BORRZII4FTJ3QQ35DUJHACRO7H","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":"9502e0554a5f3501cb50d9392b5386ad38c35a39c2e2744c66272d9df8466979","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T02:19:58Z","title_canon_sha256":"d5382697d3642a454e52258befb8ccba53836abd1a32412d4806f230e14600d8"},"schema_version":"1.0","source":{"id":"1805.07868","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07868","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07868v1","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07868","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"pith_short_12","alias_value":"BORRZII4FTJ3","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"BORRZII4FTJ3QQ35","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"BORRZII4","created_at":"2026-05-18T12:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:148060bbeacf31ff3e07e29e912a6f2e5d4c3cfb3e6d3f341b6bbf9549b98d72","target":"graph","created_at":"2026-05-18T00:15:32Z","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"},"paper":{"abstract_excerpt":"There are a wide range of features that tactile contact provides, each with different aspects of information that can be used for object grasping, manipulation, and perception. In this paper inference of some key tactile features, tip displacement, contact location, shear direction and magnitude, is demonstrated by introducing a novel method of transducing a third dimension to the sensor data via Voronoi tessellation. The inferred features are displayed throughout the work in a new visualisation mode derived from the Voronoi tessellation; these visualisations create easier interpretation of da","authors_text":"John Lloyd, Luke Cramphorn, Nathan F. Lepora","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T02:19:58Z","title":"Voronoi Features for Tactile Sensing: Direct Inference of Pressure, Shear, and Contact Locations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07868","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:fe17f7ef585a780faa105921afce055a505610280ec054393080d91a5c4af6a8","target":"record","created_at":"2026-05-18T00:15:32Z","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":"9502e0554a5f3501cb50d9392b5386ad38c35a39c2e2744c66272d9df8466979","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-21T02:19:58Z","title_canon_sha256":"d5382697d3642a454e52258befb8ccba53836abd1a32412d4806f230e14600d8"},"schema_version":"1.0","source":{"id":"1805.07868","kind":"arxiv","version":1}},"canonical_sha256":"0ba31ca11c2cd3b8437d1d12700a2ef9fd0b8a43a5ad91a3e8e44519150690b4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0ba31ca11c2cd3b8437d1d12700a2ef9fd0b8a43a5ad91a3e8e44519150690b4","first_computed_at":"2026-05-18T00:15:32.312693Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:15:32.312693Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"msFX/pGw3tXdfv8errDOJK6apO6xiwZsA8kqjAjkRaApFidXb8DSsqnfwh8qrdVIc7HlGLvtHeoHqnMhGuYIBA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:15:32.313368Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.07868","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe17f7ef585a780faa105921afce055a505610280ec054393080d91a5c4af6a8","sha256:148060bbeacf31ff3e07e29e912a6f2e5d4c3cfb3e6d3f341b6bbf9549b98d72"],"state_sha256":"daad078890dcb60156fd293c48e9da09d3b127e6bc818aad3582d32f2e7c5e0d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iPbXC1tz/CVTvPNEiYjC4/VFW4/SqpOKdyJpb+2WLtQW/Z/NZCAAC5enOt9m5irvcgLOFtPEcPAAJMefRKN7Cg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:48:45.172137Z","bundle_sha256":"f0c5ad3a06e830a6651555a8ef850f02c07d847b13ff75b82cdf4693a46bea3d"}}