{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:WHTZCENONXQUP377WME3Y2CCZC","short_pith_number":"pith:WHTZCENO","canonical_record":{"source":{"id":"2108.07206","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-16T16:28:26Z","cross_cats_sorted":[],"title_canon_sha256":"35d30e9fa08e362d4ead25b061d52ac27c1926a2ec318099bbc6842b08a01cc4","abstract_canon_sha256":"4adb2a87119396fd69384dc2a487d0d20e6e2f045d1662481cac2f3c8a2e5a57"},"schema_version":"1.0"},"canonical_sha256":"b1e79111ae6de147efffb309bc6842c8a9fc783cadeecdb8e1f61b491b16a95d","source":{"kind":"arxiv","id":"2108.07206","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.07206","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"arxiv_version","alias_value":"2108.07206v2","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.07206","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_12","alias_value":"WHTZCENONXQU","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_16","alias_value":"WHTZCENONXQUP377","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_8","alias_value":"WHTZCENO","created_at":"2026-07-05T07:14:04Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:WHTZCENONXQUP377WME3Y2CCZC","target":"record","payload":{"canonical_record":{"source":{"id":"2108.07206","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-16T16:28:26Z","cross_cats_sorted":[],"title_canon_sha256":"35d30e9fa08e362d4ead25b061d52ac27c1926a2ec318099bbc6842b08a01cc4","abstract_canon_sha256":"4adb2a87119396fd69384dc2a487d0d20e6e2f045d1662481cac2f3c8a2e5a57"},"schema_version":"1.0"},"canonical_sha256":"b1e79111ae6de147efffb309bc6842c8a9fc783cadeecdb8e1f61b491b16a95d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:14:04.046072Z","signature_b64":"kQK5o2w/t06U0U41AUgltA/Xeqsz4E07nF1ID3Zkis8RacfS5cXPgepnW2i7CzvSxD94aOsaOyuEmMW7r+ZpAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1e79111ae6de147efffb309bc6842c8a9fc783cadeecdb8e1f61b491b16a95d","last_reissued_at":"2026-07-05T07:14:04.045601Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:14:04.045601Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.07206","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:14:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vfHWbT+1Q8Rhxt4GE/1Va15ilkNSJGzX8FTHR/VuVdYXm85fELSVnN/8X3Z/44wn9yCz6YcHtWCdkQ2lphBvBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:59:00.947348Z"},"content_sha256":"2c94b8ab61f457269741be0dfb91fb1deda4158c44f59642a4d60d53b6ada9a9","schema_version":"1.0","event_id":"sha256:2c94b8ab61f457269741be0dfb91fb1deda4158c44f59642a4d60d53b6ada9a9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:WHTZCENONXQUP377WME3Y2CCZC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bj\\\"orn Hein, Christian Duriez, Hosam Alagi, Hubert Zangl, Joshua R. Smith, Keisuke Koyama, Stefan Escaida Navarro, Stephan M\\\"uhlbacher-Karrer","submitted_at":"2021-08-16T16:28:26Z","abstract_excerpt":"Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.07206","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2108.07206/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T07:14:04Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tQAyRDAl8dWlacL99Ta9R1J2avevR0fDACJU/fp4iuw3ITfyos8H/PtITljexZQhc9463hk7f3QXHnfVc/czCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T07:59:00.947738Z"},"content_sha256":"c885206fe2d6a2f39a7ac0e781543a63f12f91fbab76969bcb4d19a7870b11ee","schema_version":"1.0","event_id":"sha256:c885206fe2d6a2f39a7ac0e781543a63f12f91fbab76969bcb4d19a7870b11ee"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WHTZCENONXQUP377WME3Y2CCZC/bundle.json","state_url":"https://pith.science/pith/WHTZCENONXQUP377WME3Y2CCZC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WHTZCENONXQUP377WME3Y2CCZC/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":"2026-07-07T07:59:00Z","links":{"resolver":"https://pith.science/pith/WHTZCENONXQUP377WME3Y2CCZC","bundle":"https://pith.science/pith/WHTZCENONXQUP377WME3Y2CCZC/bundle.json","state":"https://pith.science/pith/WHTZCENONXQUP377WME3Y2CCZC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WHTZCENONXQUP377WME3Y2CCZC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:WHTZCENONXQUP377WME3Y2CCZC","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":"4adb2a87119396fd69384dc2a487d0d20e6e2f045d1662481cac2f3c8a2e5a57","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-16T16:28:26Z","title_canon_sha256":"35d30e9fa08e362d4ead25b061d52ac27c1926a2ec318099bbc6842b08a01cc4"},"schema_version":"1.0","source":{"id":"2108.07206","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.07206","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"arxiv_version","alias_value":"2108.07206v2","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.07206","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_12","alias_value":"WHTZCENONXQU","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_16","alias_value":"WHTZCENONXQUP377","created_at":"2026-07-05T07:14:04Z"},{"alias_kind":"pith_short_8","alias_value":"WHTZCENO","created_at":"2026-07-05T07:14:04Z"}],"graph_snapshots":[{"event_id":"sha256:c885206fe2d6a2f39a7ac0e781543a63f12f91fbab76969bcb4d19a7870b11ee","target":"graph","created_at":"2026-07-05T07:14:04Z","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/2108.07206/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on t","authors_text":"Bj\\\"orn Hein, Christian Duriez, Hosam Alagi, Hubert Zangl, Joshua R. Smith, Keisuke Koyama, Stefan Escaida Navarro, Stephan M\\\"uhlbacher-Karrer","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-16T16:28:26Z","title":"Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.07206","kind":"arxiv","version":2},"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":"sha256:2c94b8ab61f457269741be0dfb91fb1deda4158c44f59642a4d60d53b6ada9a9","target":"record","created_at":"2026-07-05T07:14:04Z","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":"4adb2a87119396fd69384dc2a487d0d20e6e2f045d1662481cac2f3c8a2e5a57","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-16T16:28:26Z","title_canon_sha256":"35d30e9fa08e362d4ead25b061d52ac27c1926a2ec318099bbc6842b08a01cc4"},"schema_version":"1.0","source":{"id":"2108.07206","kind":"arxiv","version":2}},"canonical_sha256":"b1e79111ae6de147efffb309bc6842c8a9fc783cadeecdb8e1f61b491b16a95d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1e79111ae6de147efffb309bc6842c8a9fc783cadeecdb8e1f61b491b16a95d","first_computed_at":"2026-07-05T07:14:04.045601Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:14:04.045601Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"kQK5o2w/t06U0U41AUgltA/Xeqsz4E07nF1ID3Zkis8RacfS5cXPgepnW2i7CzvSxD94aOsaOyuEmMW7r+ZpAw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:14:04.046072Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.07206","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:2c94b8ab61f457269741be0dfb91fb1deda4158c44f59642a4d60d53b6ada9a9","sha256:c885206fe2d6a2f39a7ac0e781543a63f12f91fbab76969bcb4d19a7870b11ee"],"state_sha256":"57fded963b9d7b08bec64f88284c86b3054cfa2998e864cccddebad041ef1d11"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yBNsVqt+XnQ0TNLU9Q53/UjezozT4mbwVHzAm6vUcFxiRkHMeOIT1ugD68TJ4kQXogZrQ8akGYm1kZMpxlmJDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T07:59:00.949771Z","bundle_sha256":"7303b4521971a6938d62da891e2516df8053019e63a89e9d701a06f5c087de64"}}