{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:33VBYT6J2E6RN2GEGDNVD3CTQM","short_pith_number":"pith:33VBYT6J","canonical_record":{"source":{"id":"2402.06529","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-02-09T16:40:59Z","cross_cats_sorted":["cs.CL","cs.LG"],"title_canon_sha256":"27b97155b6dd9ab14609450b477e64c82d6b79d0231bef1201991be76ee527f0","abstract_canon_sha256":"40d388ad817aa25d3416073cc6ff6e59ad90be1b6af37e7e93d3d567918685f1"},"schema_version":"1.0"},"canonical_sha256":"deea1c4fc9d13d16e8c430db51ec5383299527f615854e6e89d71cd50b677945","source":{"kind":"arxiv","id":"2402.06529","version":4},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.06529","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"arxiv_version","alias_value":"2402.06529v4","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.06529","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_12","alias_value":"33VBYT6J2E6R","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_16","alias_value":"33VBYT6J2E6RN2GE","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_8","alias_value":"33VBYT6J","created_at":"2026-07-05T10:12:14Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:33VBYT6J2E6RN2GEGDNVD3CTQM","target":"record","payload":{"canonical_record":{"source":{"id":"2402.06529","kind":"arxiv","version":4},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-02-09T16:40:59Z","cross_cats_sorted":["cs.CL","cs.LG"],"title_canon_sha256":"27b97155b6dd9ab14609450b477e64c82d6b79d0231bef1201991be76ee527f0","abstract_canon_sha256":"40d388ad817aa25d3416073cc6ff6e59ad90be1b6af37e7e93d3d567918685f1"},"schema_version":"1.0"},"canonical_sha256":"deea1c4fc9d13d16e8c430db51ec5383299527f615854e6e89d71cd50b677945","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:12:14.275915Z","signature_b64":"hzOcxqvbdRmC/jQ3AZshiIraOgyXgQQPigxS7gN0WQH8YZmq78vJsayBXm+RuLcd86owdEWLQVgXneWdtQM+Dg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"deea1c4fc9d13d16e8c430db51ec5383299527f615854e6e89d71cd50b677945","last_reissued_at":"2026-07-05T10:12:14.275406Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:12:14.275406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2402.06529","source_version":4,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:12:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1kPHozgf9GF0x9oKPpoqbA7fcuYPvO2Nsb9tBKRkjwDkHJZCc7hK+SbXAh1Ktdgfb/315+9y4ah2ca479kgJCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:34:51.604158Z"},"content_sha256":"9d5013ae51b5afc22c952bb909c655a9f2705b596846403ab6714f99188adb79","schema_version":"1.0","event_id":"sha256:9d5013ae51b5afc22c952bb909c655a9f2705b596846403ab6714f99188adb79"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:33VBYT6J2E6RN2GEGDNVD3CTQM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Introspective Planning: Aligning Robots' Uncertainty with Inherent Task Ambiguity","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CL","cs.LG"],"primary_cat":"cs.AI","authors_text":"Jaime Fern\\'andez Fisac, Kaiqu Liang, Zixu Zhang","submitted_at":"2024-02-09T16:40:59Z","abstract_excerpt":"Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots confidently executing plans that are misaligned with user goals or even unsafe in critical scenarios. Additionally, inherent ambiguity in natural language instructions can introduce uncertainty into the LLM's reasoning and planning processes.We propose introspective planning, a systematic approach that align LLM's uncertainty with the inherent ambiguity of t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.06529","kind":"arxiv","version":4},"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/2402.06529/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":"2026-07-05T10:12:14Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IwhlNfCjj0xr+cfQT9zpFLThtzmUIWLN6LCyotJsQXkDNTgYO3/jZAweqh4oXQIE0ye6B63oBenr447t7EYMAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T02:34:51.604844Z"},"content_sha256":"8f0a0f20e3270a218073dd91f062ce50571f8be0c4a37e37c0da63cd56fdfae1","schema_version":"1.0","event_id":"sha256:8f0a0f20e3270a218073dd91f062ce50571f8be0c4a37e37c0da63cd56fdfae1"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/bundle.json","state_url":"https://pith.science/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/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":"2026-08-08T02:34:51Z","links":{"resolver":"https://pith.science/pith/33VBYT6J2E6RN2GEGDNVD3CTQM","bundle":"https://pith.science/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/bundle.json","state":"https://pith.science/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/33VBYT6J2E6RN2GEGDNVD3CTQM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:33VBYT6J2E6RN2GEGDNVD3CTQM","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":"40d388ad817aa25d3416073cc6ff6e59ad90be1b6af37e7e93d3d567918685f1","cross_cats_sorted":["cs.CL","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-02-09T16:40:59Z","title_canon_sha256":"27b97155b6dd9ab14609450b477e64c82d6b79d0231bef1201991be76ee527f0"},"schema_version":"1.0","source":{"id":"2402.06529","kind":"arxiv","version":4}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2402.06529","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"arxiv_version","alias_value":"2402.06529v4","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2402.06529","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_12","alias_value":"33VBYT6J2E6R","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_16","alias_value":"33VBYT6J2E6RN2GE","created_at":"2026-07-05T10:12:14Z"},{"alias_kind":"pith_short_8","alias_value":"33VBYT6J","created_at":"2026-07-05T10:12:14Z"}],"graph_snapshots":[{"event_id":"sha256:8f0a0f20e3270a218073dd91f062ce50571f8be0c4a37e37c0da63cd56fdfae1","target":"graph","created_at":"2026-07-05T10:12:14Z","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/2402.06529/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large language models (LLMs) exhibit advanced reasoning skills, enabling robots to comprehend natural language instructions and strategically plan high-level actions through proper grounding. However, LLM hallucination may result in robots confidently executing plans that are misaligned with user goals or even unsafe in critical scenarios. Additionally, inherent ambiguity in natural language instructions can introduce uncertainty into the LLM's reasoning and planning processes.We propose introspective planning, a systematic approach that align LLM's uncertainty with the inherent ambiguity of t","authors_text":"Jaime Fern\\'andez Fisac, Kaiqu Liang, Zixu Zhang","cross_cats":["cs.CL","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-02-09T16:40:59Z","title":"Introspective Planning: Aligning Robots' Uncertainty with Inherent Task Ambiguity"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2402.06529","kind":"arxiv","version":4},"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":"sha256:9d5013ae51b5afc22c952bb909c655a9f2705b596846403ab6714f99188adb79","target":"record","created_at":"2026-07-05T10:12:14Z","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":"40d388ad817aa25d3416073cc6ff6e59ad90be1b6af37e7e93d3d567918685f1","cross_cats_sorted":["cs.CL","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2024-02-09T16:40:59Z","title_canon_sha256":"27b97155b6dd9ab14609450b477e64c82d6b79d0231bef1201991be76ee527f0"},"schema_version":"1.0","source":{"id":"2402.06529","kind":"arxiv","version":4}},"canonical_sha256":"deea1c4fc9d13d16e8c430db51ec5383299527f615854e6e89d71cd50b677945","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"deea1c4fc9d13d16e8c430db51ec5383299527f615854e6e89d71cd50b677945","first_computed_at":"2026-07-05T10:12:14.275406Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:12:14.275406Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"hzOcxqvbdRmC/jQ3AZshiIraOgyXgQQPigxS7gN0WQH8YZmq78vJsayBXm+RuLcd86owdEWLQVgXneWdtQM+Dg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:12:14.275915Z","signed_message":"canonical_sha256_bytes"},"source_id":"2402.06529","source_kind":"arxiv","source_version":4}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9d5013ae51b5afc22c952bb909c655a9f2705b596846403ab6714f99188adb79","sha256:8f0a0f20e3270a218073dd91f062ce50571f8be0c4a37e37c0da63cd56fdfae1"],"state_sha256":"50817f4da039ae455ece7afb2bf35a378ea9404b2539e427d0da9a9869af5c0d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"qRSB9NF33BkXyJWz8duARoBnuyDSEQofJp1U6IRMS1QGsXQWNswz0ionTCXE8Skw9wKWk2fuvpQ8cmG/kzNbBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T02:34:51.610955Z","bundle_sha256":"3b73d04600a340b4452c53df94196c9c082ff84aa087b0bda5b9e758f0eeeb68"}}