{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:3CJYGBH4VTN3P6WWPUS6ZQMR6K","short_pith_number":"pith:3CJYGBH4","canonical_record":{"source":{"id":"2407.16081","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-22T22:59:26Z","cross_cats_sorted":[],"title_canon_sha256":"0641f3cdfa8388d0e4758cdb966c603264a39c9595d47ad70eee9dcf75017228","abstract_canon_sha256":"34e8b893d60f08b77b9bdfedb9b32b77500ac2c4eae497c72ed011e93f7fb65e"},"schema_version":"1.0"},"canonical_sha256":"d8938304fcacdbb7fad67d25ecc191f29e5509bd1a09a2ad78c025db7e57be23","source":{"kind":"arxiv","id":"2407.16081","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.16081","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"arxiv_version","alias_value":"2407.16081v2","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.16081","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_12","alias_value":"3CJYGBH4VTN3","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_16","alias_value":"3CJYGBH4VTN3P6WW","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_8","alias_value":"3CJYGBH4","created_at":"2026-07-05T11:09:42Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:3CJYGBH4VTN3P6WWPUS6ZQMR6K","target":"record","payload":{"canonical_record":{"source":{"id":"2407.16081","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-22T22:59:26Z","cross_cats_sorted":[],"title_canon_sha256":"0641f3cdfa8388d0e4758cdb966c603264a39c9595d47ad70eee9dcf75017228","abstract_canon_sha256":"34e8b893d60f08b77b9bdfedb9b32b77500ac2c4eae497c72ed011e93f7fb65e"},"schema_version":"1.0"},"canonical_sha256":"d8938304fcacdbb7fad67d25ecc191f29e5509bd1a09a2ad78c025db7e57be23","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:09:42.888152Z","signature_b64":"jeZfZI6leMYFUWRMsfZVAyZ7HZMtI3RyyRlcyhFpAhI5Vj30GnEg1GQt2BLbf7Eph9jB8fRHco4DgyqSy5ULDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"d8938304fcacdbb7fad67d25ecc191f29e5509bd1a09a2ad78c025db7e57be23","last_reissued_at":"2026-07-05T11:09:42.887665Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:09:42.887665Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.16081","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":"2026-07-05T11:09:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lS0ldBaTJxj96ShUj0+4xSd9OxZJv5u9DwIgkCxu37hQVniTMweOVTn9vbf1NTpNDDge/EQWlzFOs9ABXmcgAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:12:35.957825Z"},"content_sha256":"c75736c8c5c6884df1f068f38229f8b7ff269687d8117cde7a2dd15a5b391826","schema_version":"1.0","event_id":"sha256:c75736c8c5c6884df1f068f38229f8b7ff269687d8117cde7a2dd15a5b391826"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:3CJYGBH4VTN3P6WWPUS6ZQMR6K","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"PECAN: Personalizing Robot Behaviors through a Learned Canonical Space","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dylan P. Losey, Heramb Nemlekar, Robert Ramirez Sanchez","submitted_at":"2024-07-22T22:59:26Z","abstract_excerpt":"Robots should personalize how they perform tasks to match the needs of individual human users. Today's robot achieve this personalization by asking for the human's feedback in the task space. For example, an autonomous car might show the human two different ways to decelerate at stoplights, and ask the human which of these motions they prefer. This current approach to personalization is indirect: based on the behaviors the human selects (e.g., decelerating slowly), the robot tries to infer their underlying preference (e.g., defensive driving). By contrast, our paper develops a learning and int"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.16081","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/2407.16081/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":"2026-07-05T11:09:42Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ivtaktodkmYz3dnNXrNFMYebuZCQHxh25pjJWbwIasgcSJBHDXUowV23+/2BD9dHqPbBDPKgRK2ipNYukDKBBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T08:12:35.958946Z"},"content_sha256":"371068eaf15802024e6cf942aa9e88d82144fba30f1b2bec12a7f790892d84bc","schema_version":"1.0","event_id":"sha256:371068eaf15802024e6cf942aa9e88d82144fba30f1b2bec12a7f790892d84bc"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/bundle.json","state_url":"https://pith.science/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/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":"2026-08-06T08:12:35Z","links":{"resolver":"https://pith.science/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K","bundle":"https://pith.science/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/bundle.json","state":"https://pith.science/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3CJYGBH4VTN3P6WWPUS6ZQMR6K/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:3CJYGBH4VTN3P6WWPUS6ZQMR6K","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":"34e8b893d60f08b77b9bdfedb9b32b77500ac2c4eae497c72ed011e93f7fb65e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-22T22:59:26Z","title_canon_sha256":"0641f3cdfa8388d0e4758cdb966c603264a39c9595d47ad70eee9dcf75017228"},"schema_version":"1.0","source":{"id":"2407.16081","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.16081","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"arxiv_version","alias_value":"2407.16081v2","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.16081","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_12","alias_value":"3CJYGBH4VTN3","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_16","alias_value":"3CJYGBH4VTN3P6WW","created_at":"2026-07-05T11:09:42Z"},{"alias_kind":"pith_short_8","alias_value":"3CJYGBH4","created_at":"2026-07-05T11:09:42Z"}],"graph_snapshots":[{"event_id":"sha256:371068eaf15802024e6cf942aa9e88d82144fba30f1b2bec12a7f790892d84bc","target":"graph","created_at":"2026-07-05T11:09:42Z","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/2407.16081/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robots should personalize how they perform tasks to match the needs of individual human users. Today's robot achieve this personalization by asking for the human's feedback in the task space. For example, an autonomous car might show the human two different ways to decelerate at stoplights, and ask the human which of these motions they prefer. This current approach to personalization is indirect: based on the behaviors the human selects (e.g., decelerating slowly), the robot tries to infer their underlying preference (e.g., defensive driving). By contrast, our paper develops a learning and int","authors_text":"Dylan P. Losey, Heramb Nemlekar, Robert Ramirez Sanchez","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-22T22:59:26Z","title":"PECAN: Personalizing Robot Behaviors through a Learned Canonical Space"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.16081","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:c75736c8c5c6884df1f068f38229f8b7ff269687d8117cde7a2dd15a5b391826","target":"record","created_at":"2026-07-05T11:09:42Z","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":"34e8b893d60f08b77b9bdfedb9b32b77500ac2c4eae497c72ed011e93f7fb65e","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-22T22:59:26Z","title_canon_sha256":"0641f3cdfa8388d0e4758cdb966c603264a39c9595d47ad70eee9dcf75017228"},"schema_version":"1.0","source":{"id":"2407.16081","kind":"arxiv","version":2}},"canonical_sha256":"d8938304fcacdbb7fad67d25ecc191f29e5509bd1a09a2ad78c025db7e57be23","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d8938304fcacdbb7fad67d25ecc191f29e5509bd1a09a2ad78c025db7e57be23","first_computed_at":"2026-07-05T11:09:42.887665Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:09:42.887665Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jeZfZI6leMYFUWRMsfZVAyZ7HZMtI3RyyRlcyhFpAhI5Vj30GnEg1GQt2BLbf7Eph9jB8fRHco4DgyqSy5ULDA==","signature_status":"signed_v1","signed_at":"2026-07-05T11:09:42.888152Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.16081","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c75736c8c5c6884df1f068f38229f8b7ff269687d8117cde7a2dd15a5b391826","sha256:371068eaf15802024e6cf942aa9e88d82144fba30f1b2bec12a7f790892d84bc"],"state_sha256":"822f0154b6936d8d7f63e6b8ebc3227767e99161127a734a79c58c89ab10bfdc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Bi0jN3V8FmrPwDXcRdkwauT6Tq6BjFSNoeO42xXRNuEDJd9bjK2qMYfgOTRG4PvSyRdetA4M6wUtpRSCl4T8DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T08:12:35.989594Z","bundle_sha256":"fe8778b70406bc4bf4acf1a9f92d809af1cd1ad77685f7591c43adf90d02ea07"}}