{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:5J5OOGSUANXYLKOBQCHPIPSARW","short_pith_number":"pith:5J5OOGSU","canonical_record":{"source":{"id":"1801.07864","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-24T05:23:11Z","cross_cats_sorted":[],"title_canon_sha256":"4abfb08f9aea1ad62aebb205ce95503da7680961b4909e26252cfb9484192fac","abstract_canon_sha256":"0b1d2a5dfdacd75758fbbf537c7416c62b4558632679d4069eb553e16bcb44f4"},"schema_version":"1.0"},"canonical_sha256":"ea7ae71a54036f85a9c1808ef43e408dbd471f7dda51d5658dd79a13a0d98980","source":{"kind":"arxiv","id":"1801.07864","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.07864","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"arxiv_version","alias_value":"1801.07864v1","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.07864","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"pith_short_12","alias_value":"5J5OOGSUANXY","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5J5OOGSUANXYLKOB","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5J5OOGSU","created_at":"2026-05-18T12:32:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:5J5OOGSUANXYLKOBQCHPIPSARW","target":"record","payload":{"canonical_record":{"source":{"id":"1801.07864","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-24T05:23:11Z","cross_cats_sorted":[],"title_canon_sha256":"4abfb08f9aea1ad62aebb205ce95503da7680961b4909e26252cfb9484192fac","abstract_canon_sha256":"0b1d2a5dfdacd75758fbbf537c7416c62b4558632679d4069eb553e16bcb44f4"},"schema_version":"1.0"},"canonical_sha256":"ea7ae71a54036f85a9c1808ef43e408dbd471f7dda51d5658dd79a13a0d98980","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:25:10.637687Z","signature_b64":"p9WRGTHmtkIP0gAIpn7w0cJG421SnPSmWNnBwXdDPymXjwtbBHuto6O/fWhMO6TCrhjLizbtRgrquXyBJw1EAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ea7ae71a54036f85a9c1808ef43e408dbd471f7dda51d5658dd79a13a0d98980","last_reissued_at":"2026-05-18T00:25:10.637173Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:25:10.637173Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1801.07864","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":"2026-05-18T00:25:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HkiEQ6DBehYZx5zafp1xwcpx0tGthrkYtc6drQKQP/X2qItQ0clJra72JvV1w3Sjo8mD0M6M5DPYW9/SVFdbAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T21:53:31.874066Z"},"content_sha256":"8f134cf76c95e607587699106ff59ca70beef45dcd28d9e05040ece09d3a0219","schema_version":"1.0","event_id":"sha256:8f134cf76c95e607587699106ff59ca70beef45dcd28d9e05040ece09d3a0219"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:5J5OOGSUANXYLKOBQCHPIPSARW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Behavior Trees as a Representation for Medical Procedures","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Blake Hannaford","submitted_at":"2018-01-24T05:23:11Z","abstract_excerpt":"Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for modeling medical procedures including human-readability, authoring tools, and composability. This paper will illustrate construction of BTs for exemplary medical procedures. We are pleased to acknowledge support from National Science Foundation grant #IIS-1637444 and collaborations on that project with Johns Hopkins University and Worcester Polytechnic Institute."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.07864","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":""},"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":"2026-05-18T00:25:10Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bJvgIq7qekFwgb6RcDNmCyQCy6x3IaAXaXtQsqlm9ZN3oni8RX4tKsPYHHoBOYcbN8NevQM+TkGIfTTJSIH4BQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-28T21:53:31.874426Z"},"content_sha256":"c852b3ff78aa15ae277cbac06f99616ead87d131adc24259a78dea3b05f53088","schema_version":"1.0","event_id":"sha256:c852b3ff78aa15ae277cbac06f99616ead87d131adc24259a78dea3b05f53088"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5J5OOGSUANXYLKOBQCHPIPSARW/bundle.json","state_url":"https://pith.science/pith/5J5OOGSUANXYLKOBQCHPIPSARW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5J5OOGSUANXYLKOBQCHPIPSARW/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":"2026-06-28T21:53:31Z","links":{"resolver":"https://pith.science/pith/5J5OOGSUANXYLKOBQCHPIPSARW","bundle":"https://pith.science/pith/5J5OOGSUANXYLKOBQCHPIPSARW/bundle.json","state":"https://pith.science/pith/5J5OOGSUANXYLKOBQCHPIPSARW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5J5OOGSUANXYLKOBQCHPIPSARW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:5J5OOGSUANXYLKOBQCHPIPSARW","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":"0b1d2a5dfdacd75758fbbf537c7416c62b4558632679d4069eb553e16bcb44f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-24T05:23:11Z","title_canon_sha256":"4abfb08f9aea1ad62aebb205ce95503da7680961b4909e26252cfb9484192fac"},"schema_version":"1.0","source":{"id":"1801.07864","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1801.07864","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"arxiv_version","alias_value":"1801.07864v1","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1801.07864","created_at":"2026-05-18T00:25:10Z"},{"alias_kind":"pith_short_12","alias_value":"5J5OOGSUANXY","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_16","alias_value":"5J5OOGSUANXYLKOB","created_at":"2026-05-18T12:32:08Z"},{"alias_kind":"pith_short_8","alias_value":"5J5OOGSU","created_at":"2026-05-18T12:32:08Z"}],"graph_snapshots":[{"event_id":"sha256:c852b3ff78aa15ae277cbac06f99616ead87d131adc24259a78dea3b05f53088","target":"graph","created_at":"2026-05-18T00:25:10Z","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"},"paper":{"abstract_excerpt":"Behavior trees (BTs) emerged from video game development as a graphical language for modeling intelligent agent behavior. BTs have several properties which are attractive for modeling medical procedures including human-readability, authoring tools, and composability. This paper will illustrate construction of BTs for exemplary medical procedures. We are pleased to acknowledge support from National Science Foundation grant #IIS-1637444 and collaborations on that project with Johns Hopkins University and Worcester Polytechnic Institute.","authors_text":"Blake Hannaford","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-24T05:23:11Z","title":"Behavior Trees as a Representation for Medical Procedures"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1801.07864","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":"sha256:8f134cf76c95e607587699106ff59ca70beef45dcd28d9e05040ece09d3a0219","target":"record","created_at":"2026-05-18T00:25:10Z","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":"0b1d2a5dfdacd75758fbbf537c7416c62b4558632679d4069eb553e16bcb44f4","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-01-24T05:23:11Z","title_canon_sha256":"4abfb08f9aea1ad62aebb205ce95503da7680961b4909e26252cfb9484192fac"},"schema_version":"1.0","source":{"id":"1801.07864","kind":"arxiv","version":1}},"canonical_sha256":"ea7ae71a54036f85a9c1808ef43e408dbd471f7dda51d5658dd79a13a0d98980","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ea7ae71a54036f85a9c1808ef43e408dbd471f7dda51d5658dd79a13a0d98980","first_computed_at":"2026-05-18T00:25:10.637173Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:25:10.637173Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"p9WRGTHmtkIP0gAIpn7w0cJG421SnPSmWNnBwXdDPymXjwtbBHuto6O/fWhMO6TCrhjLizbtRgrquXyBJw1EAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:25:10.637687Z","signed_message":"canonical_sha256_bytes"},"source_id":"1801.07864","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f134cf76c95e607587699106ff59ca70beef45dcd28d9e05040ece09d3a0219","sha256:c852b3ff78aa15ae277cbac06f99616ead87d131adc24259a78dea3b05f53088"],"state_sha256":"40dc5bfebcfb96fd345e9ef54dce82f7426c84983040d57ee527c39c58be77ee"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"LSD0dTJXn5tLlDzblY6ukxaxKA1imMn1LBVkzaYpm9i4CmywSt53/TT73QPmSyMr1bVQv5PnYA069oXrkYKpCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-28T21:53:31.876232Z","bundle_sha256":"a38b87fb2c84cbeb68aa817182448d044447dc65c41504d87a09024e282f79df"}}