{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:2B36QMF3XJ7XNUB7QVRUWF7XSF","short_pith_number":"pith:2B36QMF3","canonical_record":{"source":{"id":"2509.18384","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T20:14:32Z","cross_cats_sorted":["cs.FL"],"title_canon_sha256":"5dff75e83f8406510b9a278f707a72eaa334d6ad605a3fb41da1abbc30d00046","abstract_canon_sha256":"dc40f5dc262080f62741cbeb967ed0d6206cb093ea481ad8373c63d2e5fde147"},"schema_version":"1.0"},"canonical_sha256":"d077e830bbba7f76d03f85634b17f79164340ffd0f8e51b43405c2ad6793af8e","source":{"kind":"arxiv","id":"2509.18384","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.18384","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"arxiv_version","alias_value":"2509.18384v2","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.18384","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_12","alias_value":"2B36QMF3XJ7X","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_16","alias_value":"2B36QMF3XJ7XNUB7","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_8","alias_value":"2B36QMF3","created_at":"2026-05-27T01:04:50Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:2B36QMF3XJ7XNUB7QVRUWF7XSF","target":"record","payload":{"canonical_record":{"source":{"id":"2509.18384","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T20:14:32Z","cross_cats_sorted":["cs.FL"],"title_canon_sha256":"5dff75e83f8406510b9a278f707a72eaa334d6ad605a3fb41da1abbc30d00046","abstract_canon_sha256":"dc40f5dc262080f62741cbeb967ed0d6206cb093ea481ad8373c63d2e5fde147"},"schema_version":"1.0"},"canonical_sha256":"d077e830bbba7f76d03f85634b17f79164340ffd0f8e51b43405c2ad6793af8e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-27T01:04:50.823371Z","signature_b64":"H1QZwjy5WN91iFaH1mhPE2ceYHcTC/+FOeKKbUtEgVzWhe9UoMDNVDVzyQtEwvlqcdFPw3qe27ZzSWCLhOYuCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d077e830bbba7f76d03f85634b17f79164340ffd0f8e51b43405c2ad6793af8e","last_reissued_at":"2026-05-27T01:04:50.822650Z","signature_status":"signed_v1","first_computed_at":"2026-05-27T01:04:50.822650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.18384","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":"2026-05-27T01:04:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ogjQi1HoJ4AZ5Ld2jf6WHcKjbvL61R2WBW9RgkOwaVDhbnvHMAg/UG/r2o1uQ2NPyIX+4UjO8c3BtLoeafEFDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:47:40.553135Z"},"content_sha256":"ccd58f0bb4067b32c8866c6abd65a3812744b7639f3e63e74a01318832de88b3","schema_version":"1.0","event_id":"sha256:ccd58f0bb4067b32c8866c6abd65a3812744b7639f3e63e74a01318832de88b3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:2B36QMF3XJ7XNUB7QVRUWF7XSF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LAD-VF: LLM-Automatic Differentiation Enables Fine-Tuning-Free Robot Planning from Formal Methods Feedback","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.FL"],"primary_cat":"cs.RO","authors_text":"Gabriel Jacob Perin, Junyuan Hong, Li Yin, Ufuk Topcu, Yunhao Yang, Zhangyang Wang, Zhiwen Fan","submitted_at":"2025-09-22T20:14:32Z","abstract_excerpt":"Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to safety and regulatory constraints, which current models often violate due to hallucination or weak alignment. Traditional data-driven alignment methods, such as Direct Preference Optimization (DPO), require costly human labeling, while recent formal-feedback approaches still depend on resource-intensive fine-tuning. In this paper, we propose LAD-VF, a fine-t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.18384","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/2509.18384/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":"2026-05-27T01:04:50Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fl+SQhwvy+Ra01eLbUvn3xI243xEFzXYEDy9oQbvxffACR2HZQpB5FfuFN/ECFNfpuNAIRO8cepgVonAPsrqDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:47:40.553525Z"},"content_sha256":"71fc6783131a010e0443cb71b99ee02daa61019741ee7f8b7eb45dde3a1eeba9","schema_version":"1.0","event_id":"sha256:71fc6783131a010e0443cb71b99ee02daa61019741ee7f8b7eb45dde3a1eeba9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/bundle.json","state_url":"https://pith.science/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/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":"2026-05-28T06:47:40Z","links":{"resolver":"https://pith.science/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF","bundle":"https://pith.science/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/bundle.json","state":"https://pith.science/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2B36QMF3XJ7XNUB7QVRUWF7XSF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:2B36QMF3XJ7XNUB7QVRUWF7XSF","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":"dc40f5dc262080f62741cbeb967ed0d6206cb093ea481ad8373c63d2e5fde147","cross_cats_sorted":["cs.FL"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T20:14:32Z","title_canon_sha256":"5dff75e83f8406510b9a278f707a72eaa334d6ad605a3fb41da1abbc30d00046"},"schema_version":"1.0","source":{"id":"2509.18384","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.18384","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"arxiv_version","alias_value":"2509.18384v2","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.18384","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_12","alias_value":"2B36QMF3XJ7X","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_16","alias_value":"2B36QMF3XJ7XNUB7","created_at":"2026-05-27T01:04:50Z"},{"alias_kind":"pith_short_8","alias_value":"2B36QMF3","created_at":"2026-05-27T01:04:50Z"}],"graph_snapshots":[{"event_id":"sha256:71fc6783131a010e0443cb71b99ee02daa61019741ee7f8b7eb45dde3a1eeba9","target":"graph","created_at":"2026-05-27T01:04:50Z","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/2509.18384/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to safety and regulatory constraints, which current models often violate due to hallucination or weak alignment. Traditional data-driven alignment methods, such as Direct Preference Optimization (DPO), require costly human labeling, while recent formal-feedback approaches still depend on resource-intensive fine-tuning. In this paper, we propose LAD-VF, a fine-t","authors_text":"Gabriel Jacob Perin, Junyuan Hong, Li Yin, Ufuk Topcu, Yunhao Yang, Zhangyang Wang, Zhiwen Fan","cross_cats":["cs.FL"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T20:14:32Z","title":"LAD-VF: LLM-Automatic Differentiation Enables Fine-Tuning-Free Robot Planning from Formal Methods Feedback"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.18384","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:ccd58f0bb4067b32c8866c6abd65a3812744b7639f3e63e74a01318832de88b3","target":"record","created_at":"2026-05-27T01:04:50Z","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":"dc40f5dc262080f62741cbeb967ed0d6206cb093ea481ad8373c63d2e5fde147","cross_cats_sorted":["cs.FL"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-22T20:14:32Z","title_canon_sha256":"5dff75e83f8406510b9a278f707a72eaa334d6ad605a3fb41da1abbc30d00046"},"schema_version":"1.0","source":{"id":"2509.18384","kind":"arxiv","version":2}},"canonical_sha256":"d077e830bbba7f76d03f85634b17f79164340ffd0f8e51b43405c2ad6793af8e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d077e830bbba7f76d03f85634b17f79164340ffd0f8e51b43405c2ad6793af8e","first_computed_at":"2026-05-27T01:04:50.822650Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-27T01:04:50.822650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"H1QZwjy5WN91iFaH1mhPE2ceYHcTC/+FOeKKbUtEgVzWhe9UoMDNVDVzyQtEwvlqcdFPw3qe27ZzSWCLhOYuCQ==","signature_status":"signed_v1","signed_at":"2026-05-27T01:04:50.823371Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.18384","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ccd58f0bb4067b32c8866c6abd65a3812744b7639f3e63e74a01318832de88b3","sha256:71fc6783131a010e0443cb71b99ee02daa61019741ee7f8b7eb45dde3a1eeba9"],"state_sha256":"754da02760d0deb4770a96dc69b3e1a4f179465c9dd88ae6156c48187f02a156"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VFHbYYkmDOfSFM7J1GRl5/wlYyZS0/ooAGMdrTGeGwD2nvVz+g2sbEcAUilK/JzcE8bJp8KiOCI3s0RmfOU9Dg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T06:47:40.555747Z","bundle_sha256":"beb333811e63dcd8cf7f9bf19f0cf285641e9dc38e9f5bee535f10a73a0bbebf"}}