{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:2VRKCEOEMKULGRIMXUZUAKVOY7","short_pith_number":"pith:2VRKCEOE","canonical_record":{"source":{"id":"2105.04484","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T16:21:53Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"62e8caa7737d61d6c1960ac548ea4c64482c85027507097e48e789a0d7efccb8","abstract_canon_sha256":"451f2f9f26bff4c46dfc6cf18d615aa626253f447b10d421592cf668f80562d7"},"schema_version":"1.0"},"canonical_sha256":"d562a111c462a8b3450cbd33402aaec7e3fecbc70085ea219c39463a10da3787","source":{"kind":"arxiv","id":"2105.04484","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04484","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04484v1","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04484","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_12","alias_value":"2VRKCEOEMKUL","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_16","alias_value":"2VRKCEOEMKULGRIM","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_8","alias_value":"2VRKCEOE","created_at":"2026-07-05T02:38:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:2VRKCEOEMKULGRIMXUZUAKVOY7","target":"record","payload":{"canonical_record":{"source":{"id":"2105.04484","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T16:21:53Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"62e8caa7737d61d6c1960ac548ea4c64482c85027507097e48e789a0d7efccb8","abstract_canon_sha256":"451f2f9f26bff4c46dfc6cf18d615aa626253f447b10d421592cf668f80562d7"},"schema_version":"1.0"},"canonical_sha256":"d562a111c462a8b3450cbd33402aaec7e3fecbc70085ea219c39463a10da3787","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:38:57.614654Z","signature_b64":"TJrowijISI/3I3j9ureb5sf8H928j+pfW+X0xYUJ3S1dekXdwb9MATuRBtlcohEy6+5WiKGdAjtpmxmBLL2FCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d562a111c462a8b3450cbd33402aaec7e3fecbc70085ea219c39463a10da3787","last_reissued_at":"2026-07-05T02:38:57.614207Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:38:57.614207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2105.04484","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":"2026-07-05T02:38:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FOsOXfu8RxZWrM6rLZkf0Cp9v+9/kcrBYnoDMLoLA3UzNq2EY9n1wS0dkFncfqUTq/lb14B06aQM+otp7VSrBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T03:03:31.906885Z"},"content_sha256":"668b9e812e414c718d1cb8e7b577651f29c37a0a232a1dc738f95b14bb87e1b5","schema_version":"1.0","event_id":"sha256:668b9e812e414c718d1cb8e7b577651f29c37a0a232a1dc738f95b14bb87e1b5"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:2VRKCEOEMKULGRIMXUZUAKVOY7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Towards Robust One-shot Task Execution using Knowledge Graph Embeddings","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Angel Daruna, Lakshmi Nair, Sonia Chernova, Weiyu Liu","submitted_at":"2021-05-10T16:21:53Z","abstract_excerpt":"Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot task execution, in which a robot must generalize a single demonstration or prototypical example of a task plan to a new execution environment. Our approach integrates task plans with domain knowledge to infer task plan constituents for new execution environments. Our experimental evaluations show that our knowledge representation makes more relevant generali"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04484","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2105.04484/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":"2026-07-05T02:38:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PNgI8OyqeEflnk3wG7OyOmKwCDIijCkjBX8WAWePXleu1SvhPiC3eJ+Dmwj0dsSk1L7G+rhHyDYnFFuIyqYZBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T03:03:31.907256Z"},"content_sha256":"864a76da9b4349591f47ca72b0818caf3f00de96beae2cfbabf4b117f566b34b","schema_version":"1.0","event_id":"sha256:864a76da9b4349591f47ca72b0818caf3f00de96beae2cfbabf4b117f566b34b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/bundle.json","state_url":"https://pith.science/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/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":"2026-07-07T03:03:31Z","links":{"resolver":"https://pith.science/pith/2VRKCEOEMKULGRIMXUZUAKVOY7","bundle":"https://pith.science/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/bundle.json","state":"https://pith.science/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/2VRKCEOEMKULGRIMXUZUAKVOY7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:2VRKCEOEMKULGRIMXUZUAKVOY7","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":"451f2f9f26bff4c46dfc6cf18d615aa626253f447b10d421592cf668f80562d7","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T16:21:53Z","title_canon_sha256":"62e8caa7737d61d6c1960ac548ea4c64482c85027507097e48e789a0d7efccb8"},"schema_version":"1.0","source":{"id":"2105.04484","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2105.04484","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"arxiv_version","alias_value":"2105.04484v1","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.04484","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_12","alias_value":"2VRKCEOEMKUL","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_16","alias_value":"2VRKCEOEMKULGRIM","created_at":"2026-07-05T02:38:57Z"},{"alias_kind":"pith_short_8","alias_value":"2VRKCEOE","created_at":"2026-07-05T02:38:57Z"}],"graph_snapshots":[{"event_id":"sha256:864a76da9b4349591f47ca72b0818caf3f00de96beae2cfbabf4b117f566b34b","target":"graph","created_at":"2026-07-05T02:38:57Z","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/2105.04484/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Requiring multiple demonstrations of a task plan presents a burden to end-users of robots. However, robustly executing tasks plans from a single end-user demonstration is an ongoing challenge in robotics. We address the problem of one-shot task execution, in which a robot must generalize a single demonstration or prototypical example of a task plan to a new execution environment. Our approach integrates task plans with domain knowledge to infer task plan constituents for new execution environments. Our experimental evaluations show that our knowledge representation makes more relevant generali","authors_text":"Angel Daruna, Lakshmi Nair, Sonia Chernova, Weiyu Liu","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T16:21:53Z","title":"Towards Robust One-shot Task Execution using Knowledge Graph Embeddings"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.04484","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":"sha256:668b9e812e414c718d1cb8e7b577651f29c37a0a232a1dc738f95b14bb87e1b5","target":"record","created_at":"2026-07-05T02:38:57Z","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":"451f2f9f26bff4c46dfc6cf18d615aa626253f447b10d421592cf668f80562d7","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-10T16:21:53Z","title_canon_sha256":"62e8caa7737d61d6c1960ac548ea4c64482c85027507097e48e789a0d7efccb8"},"schema_version":"1.0","source":{"id":"2105.04484","kind":"arxiv","version":1}},"canonical_sha256":"d562a111c462a8b3450cbd33402aaec7e3fecbc70085ea219c39463a10da3787","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d562a111c462a8b3450cbd33402aaec7e3fecbc70085ea219c39463a10da3787","first_computed_at":"2026-07-05T02:38:57.614207Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:38:57.614207Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"TJrowijISI/3I3j9ureb5sf8H928j+pfW+X0xYUJ3S1dekXdwb9MATuRBtlcohEy6+5WiKGdAjtpmxmBLL2FCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:38:57.614654Z","signed_message":"canonical_sha256_bytes"},"source_id":"2105.04484","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:668b9e812e414c718d1cb8e7b577651f29c37a0a232a1dc738f95b14bb87e1b5","sha256:864a76da9b4349591f47ca72b0818caf3f00de96beae2cfbabf4b117f566b34b"],"state_sha256":"115e8bc8d293e274e330de4e7f77b5f77999f67497c777e9a7b897ec436205b7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zmFGQuCycah9tEboahxaF4q8hLNKa9WdfAFdf3ktcqRQ3K9hIZFjYFKYEE77kIncDf/ch7kluy+vd69le0sxBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T03:03:31.909227Z","bundle_sha256":"1a9407085e0370276a9499dfa6cd8ea38af30ba0af61f828c8dbd0a5e11c73a4"}}