{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:5PEDEAYE454RQLMCW5DIQNRJHA","short_pith_number":"pith:5PEDEAYE","canonical_record":{"source":{"id":"2005.05842","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T15:03:20Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"c8d7815a3852274e46c3919aaee3245b54ea391af99020891df23563fc5dfde1","abstract_canon_sha256":"af2944c782150e0740db26c16858ea2b384eea2c961d33a203ba415eed0551fe"},"schema_version":"1.0"},"canonical_sha256":"ebc8320304e779182d82b7468836293818015795cbeba9a07863945892cce6ee","source":{"kind":"arxiv","id":"2005.05842","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.05842","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"arxiv_version","alias_value":"2005.05842v2","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.05842","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_12","alias_value":"5PEDEAYE454R","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_16","alias_value":"5PEDEAYE454RQLMC","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_8","alias_value":"5PEDEAYE","created_at":"2026-07-05T01:02:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:5PEDEAYE454RQLMCW5DIQNRJHA","target":"record","payload":{"canonical_record":{"source":{"id":"2005.05842","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T15:03:20Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"c8d7815a3852274e46c3919aaee3245b54ea391af99020891df23563fc5dfde1","abstract_canon_sha256":"af2944c782150e0740db26c16858ea2b384eea2c961d33a203ba415eed0551fe"},"schema_version":"1.0"},"canonical_sha256":"ebc8320304e779182d82b7468836293818015795cbeba9a07863945892cce6ee","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:02:30.870190Z","signature_b64":"UkN23AyVzHlyCd0xun+oPG07wPp05G3fsSwilj/jwNgoFzssXup0xNrX4aVXDfUI4TNecTTspyEQZElswDGHDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ebc8320304e779182d82b7468836293818015795cbeba9a07863945892cce6ee","last_reissued_at":"2026-07-05T01:02:30.869654Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:02:30.869654Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2005.05842","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":"2026-07-05T01:02:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K7UWKdImTjBGeEruRTB1O8sqUCOVpMGuIRt5/Zm444K3IJ/OB8LSdvjT8+zoPQWA64MijNyxrAVKaryn8hRJDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:42:35.318811Z"},"content_sha256":"5b9301b16163a543f972d02549d18b4eafe0ab2d8f0efbc19f6380cd5bf9b14c","schema_version":"1.0","event_id":"sha256:5b9301b16163a543f972d02549d18b4eafe0ab2d8f0efbc19f6380cd5bf9b14c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:5PEDEAYE454RQLMCW5DIQNRJHA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Survey of Behavior Trees in Robotics and AI","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Christian Smith, Edvards Scukins, Jonathan Styrud, Matteo Iovino, Petter \\\"Ogren","submitted_at":"2020-05-12T15:03:20Z","abstract_excerpt":"Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game programmers found that the Finite State Machines (FSM) that they used scaled poorly and were difficult to extend, adapt and reuse. In BTs, the state transition logic is not dispersed across the individual states, but organized in a hierarchical tree structure, with the states as leaves. This has a significant effect on modularity, which in turn simplifies both synth"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.05842","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/2005.05842/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":"2026-07-05T01:02:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"06gVzrXzKINxmqqcl2L1htUXjI8YX8WO3Ne7m7HqlLg9T3MNQKjad15IDJiAlaEfYalN79Mnk9dq7Nj+aMzaAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T10:42:35.319190Z"},"content_sha256":"8aa8efd3b80389e2fb5e086abef9ec6a549d8f67b3f2aa0eb6da4189e6b346d0","schema_version":"1.0","event_id":"sha256:8aa8efd3b80389e2fb5e086abef9ec6a549d8f67b3f2aa0eb6da4189e6b346d0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5PEDEAYE454RQLMCW5DIQNRJHA/bundle.json","state_url":"https://pith.science/pith/5PEDEAYE454RQLMCW5DIQNRJHA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5PEDEAYE454RQLMCW5DIQNRJHA/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":"2026-07-06T10:42:35Z","links":{"resolver":"https://pith.science/pith/5PEDEAYE454RQLMCW5DIQNRJHA","bundle":"https://pith.science/pith/5PEDEAYE454RQLMCW5DIQNRJHA/bundle.json","state":"https://pith.science/pith/5PEDEAYE454RQLMCW5DIQNRJHA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5PEDEAYE454RQLMCW5DIQNRJHA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:5PEDEAYE454RQLMCW5DIQNRJHA","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":"af2944c782150e0740db26c16858ea2b384eea2c961d33a203ba415eed0551fe","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T15:03:20Z","title_canon_sha256":"c8d7815a3852274e46c3919aaee3245b54ea391af99020891df23563fc5dfde1"},"schema_version":"1.0","source":{"id":"2005.05842","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2005.05842","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"arxiv_version","alias_value":"2005.05842v2","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2005.05842","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_12","alias_value":"5PEDEAYE454R","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_16","alias_value":"5PEDEAYE454RQLMC","created_at":"2026-07-05T01:02:30Z"},{"alias_kind":"pith_short_8","alias_value":"5PEDEAYE","created_at":"2026-07-05T01:02:30Z"}],"graph_snapshots":[{"event_id":"sha256:8aa8efd3b80389e2fb5e086abef9ec6a549d8f67b3f2aa0eb6da4189e6b346d0","target":"graph","created_at":"2026-07-05T01:02:30Z","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/2005.05842/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Behavior Trees (BTs) were invented as a tool to enable modular AI in computer games, but have received an increasing amount of attention in the robotics community in the last decade. With rising demands on agent AI complexity, game programmers found that the Finite State Machines (FSM) that they used scaled poorly and were difficult to extend, adapt and reuse. In BTs, the state transition logic is not dispersed across the individual states, but organized in a hierarchical tree structure, with the states as leaves. This has a significant effect on modularity, which in turn simplifies both synth","authors_text":"Christian Smith, Edvards Scukins, Jonathan Styrud, Matteo Iovino, Petter \\\"Ogren","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T15:03:20Z","title":"A Survey of Behavior Trees in Robotics and AI"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2005.05842","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":"sha256:5b9301b16163a543f972d02549d18b4eafe0ab2d8f0efbc19f6380cd5bf9b14c","target":"record","created_at":"2026-07-05T01:02:30Z","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":"af2944c782150e0740db26c16858ea2b384eea2c961d33a203ba415eed0551fe","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-05-12T15:03:20Z","title_canon_sha256":"c8d7815a3852274e46c3919aaee3245b54ea391af99020891df23563fc5dfde1"},"schema_version":"1.0","source":{"id":"2005.05842","kind":"arxiv","version":2}},"canonical_sha256":"ebc8320304e779182d82b7468836293818015795cbeba9a07863945892cce6ee","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ebc8320304e779182d82b7468836293818015795cbeba9a07863945892cce6ee","first_computed_at":"2026-07-05T01:02:30.869654Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:02:30.869654Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"UkN23AyVzHlyCd0xun+oPG07wPp05G3fsSwilj/jwNgoFzssXup0xNrX4aVXDfUI4TNecTTspyEQZElswDGHDA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:02:30.870190Z","signed_message":"canonical_sha256_bytes"},"source_id":"2005.05842","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5b9301b16163a543f972d02549d18b4eafe0ab2d8f0efbc19f6380cd5bf9b14c","sha256:8aa8efd3b80389e2fb5e086abef9ec6a549d8f67b3f2aa0eb6da4189e6b346d0"],"state_sha256":"21c1726868daa15619ed687f3ae805b1f109d6d1e0f0715f48e6d733baa2c4f2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RiWFD206h83DMFPfap6jBsfzFpKHA28I3v5S7NYy5KkLJl9A5Ymb2i7g2lY+oTxly/t8g5SWQ5IpCu2mXPnNCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T10:42:35.321876Z","bundle_sha256":"40b17b5fa133e3cfa5e1edafff061563067cc6069d4b5153b5a85bfe04c49491"}}