{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:7I2HOXTQDW4ZGDD3CLSDZ524BR","short_pith_number":"pith:7I2HOXTQ","canonical_record":{"source":{"id":"2204.05186","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-11T15:22:43Z","cross_cats_sorted":["cs.AI","cs.CL","cs.CV","cs.LG"],"title_canon_sha256":"9d944fe320772a7d2aab93bd756012735b10e8a7f3bb8690652d06ffa4796ad5","abstract_canon_sha256":"edfff3dca4197c4db30e20667e699dd13edd3a96e4bd118f2ee4f1ca6943263c"},"schema_version":"1.0"},"canonical_sha256":"fa34775e701db9930c7b12e43cf75c0c7e3a3b3d559bdadf00e7fd5bc1e64531","source":{"kind":"arxiv","id":"2204.05186","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.05186","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"arxiv_version","alias_value":"2204.05186v1","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.05186","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_12","alias_value":"7I2HOXTQDW4Z","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_16","alias_value":"7I2HOXTQDW4ZGDD3","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_8","alias_value":"7I2HOXTQ","created_at":"2026-07-05T04:13:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:7I2HOXTQDW4ZGDD3CLSDZ524BR","target":"record","payload":{"canonical_record":{"source":{"id":"2204.05186","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-11T15:22:43Z","cross_cats_sorted":["cs.AI","cs.CL","cs.CV","cs.LG"],"title_canon_sha256":"9d944fe320772a7d2aab93bd756012735b10e8a7f3bb8690652d06ffa4796ad5","abstract_canon_sha256":"edfff3dca4197c4db30e20667e699dd13edd3a96e4bd118f2ee4f1ca6943263c"},"schema_version":"1.0"},"canonical_sha256":"fa34775e701db9930c7b12e43cf75c0c7e3a3b3d559bdadf00e7fd5bc1e64531","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:13:18.319788Z","signature_b64":"xawQ1QXv5yLwqYj+f8c9WYJ6+IkBzBbPufAgr+m9l7y9FiKUCWI5wsnOAgmgO7MHcaIo7qSD9HKXTcytzSH5Ag==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fa34775e701db9930c7b12e43cf75c0c7e3a3b3d559bdadf00e7fd5bc1e64531","last_reissued_at":"2026-07-05T04:13:18.319269Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:13:18.319269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2204.05186","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":"2026-07-05T04:13:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hbvxyirnLHDAepqKWVnEl+EzgrndG5KaIcZg7+RbXTI63EQrQiKeOYjOr741jADwYMQWEEUMfV7lao5fQyp8CA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T17:17:26.465246Z"},"content_sha256":"1c91005a1bbb3cfd8ed4412b35a24d94a727f5a77aac04ad2d26fbe286c766d9","schema_version":"1.0","event_id":"sha256:1c91005a1bbb3cfd8ed4412b35a24d94a727f5a77aac04ad2d26fbe286c766d9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:7I2HOXTQDW4ZGDD3CLSDZ524BR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Correcting Robot Plans with Natural Language Feedback","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.CL","cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Antonio Torralba, Balakumar Sundaralingam, Chris Paxton, Dieter Fox, Jacob Andreas, Pratyusha Sharma, Tucker Hermans, Valts Blukis","submitted_at":"2022-04-11T15:22:43Z","abstract_excerpt":"When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop robot control. Corrections might take the form of new goal specifications, new constraints (e.g. to avoid specific objects), or hints for planning algorithms (e.g. to visit specific waypoints). Existing correction methods (e.g. using a joystick or direct manipulation of an end effector) require full teleoperation or real-time interaction. In this paper, we "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.05186","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/2204.05186/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":"2026-07-05T04:13:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"g0/qs3K7dB4vNmDFCByhTyIgUbFwOSCos6kvRBKURsAm83NqM5WuFpKOtEhve/9YHCVvyBOfQRPSyXe3YCk2Bw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T17:17:26.465751Z"},"content_sha256":"98adb611cc1dfa37a896f67a0a662fe0872ac74cc3835d481d6ba98081724319","schema_version":"1.0","event_id":"sha256:98adb611cc1dfa37a896f67a0a662fe0872ac74cc3835d481d6ba98081724319"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/bundle.json","state_url":"https://pith.science/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/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":"2026-08-07T17:17:26Z","links":{"resolver":"https://pith.science/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR","bundle":"https://pith.science/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/bundle.json","state":"https://pith.science/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7I2HOXTQDW4ZGDD3CLSDZ524BR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:7I2HOXTQDW4ZGDD3CLSDZ524BR","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":"edfff3dca4197c4db30e20667e699dd13edd3a96e4bd118f2ee4f1ca6943263c","cross_cats_sorted":["cs.AI","cs.CL","cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-11T15:22:43Z","title_canon_sha256":"9d944fe320772a7d2aab93bd756012735b10e8a7f3bb8690652d06ffa4796ad5"},"schema_version":"1.0","source":{"id":"2204.05186","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2204.05186","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"arxiv_version","alias_value":"2204.05186v1","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2204.05186","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_12","alias_value":"7I2HOXTQDW4Z","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_16","alias_value":"7I2HOXTQDW4ZGDD3","created_at":"2026-07-05T04:13:18Z"},{"alias_kind":"pith_short_8","alias_value":"7I2HOXTQ","created_at":"2026-07-05T04:13:18Z"}],"graph_snapshots":[{"event_id":"sha256:98adb611cc1dfa37a896f67a0a662fe0872ac74cc3835d481d6ba98081724319","target":"graph","created_at":"2026-07-05T04:13:18Z","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/2204.05186/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"When humans design cost or goal specifications for robots, they often produce specifications that are ambiguous, underspecified, or beyond planners' ability to solve. In these cases, corrections provide a valuable tool for human-in-the-loop robot control. Corrections might take the form of new goal specifications, new constraints (e.g. to avoid specific objects), or hints for planning algorithms (e.g. to visit specific waypoints). Existing correction methods (e.g. using a joystick or direct manipulation of an end effector) require full teleoperation or real-time interaction. In this paper, we ","authors_text":"Antonio Torralba, Balakumar Sundaralingam, Chris Paxton, Dieter Fox, Jacob Andreas, Pratyusha Sharma, Tucker Hermans, Valts Blukis","cross_cats":["cs.AI","cs.CL","cs.CV","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-11T15:22:43Z","title":"Correcting Robot Plans with Natural Language Feedback"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2204.05186","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":"sha256:1c91005a1bbb3cfd8ed4412b35a24d94a727f5a77aac04ad2d26fbe286c766d9","target":"record","created_at":"2026-07-05T04:13:18Z","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":"edfff3dca4197c4db30e20667e699dd13edd3a96e4bd118f2ee4f1ca6943263c","cross_cats_sorted":["cs.AI","cs.CL","cs.CV","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2022-04-11T15:22:43Z","title_canon_sha256":"9d944fe320772a7d2aab93bd756012735b10e8a7f3bb8690652d06ffa4796ad5"},"schema_version":"1.0","source":{"id":"2204.05186","kind":"arxiv","version":1}},"canonical_sha256":"fa34775e701db9930c7b12e43cf75c0c7e3a3b3d559bdadf00e7fd5bc1e64531","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fa34775e701db9930c7b12e43cf75c0c7e3a3b3d559bdadf00e7fd5bc1e64531","first_computed_at":"2026-07-05T04:13:18.319269Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T04:13:18.319269Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xawQ1QXv5yLwqYj+f8c9WYJ6+IkBzBbPufAgr+m9l7y9FiKUCWI5wsnOAgmgO7MHcaIo7qSD9HKXTcytzSH5Ag==","signature_status":"signed_v1","signed_at":"2026-07-05T04:13:18.319788Z","signed_message":"canonical_sha256_bytes"},"source_id":"2204.05186","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1c91005a1bbb3cfd8ed4412b35a24d94a727f5a77aac04ad2d26fbe286c766d9","sha256:98adb611cc1dfa37a896f67a0a662fe0872ac74cc3835d481d6ba98081724319"],"state_sha256":"4b53ee8c6ed22bc27820a767c7646972c162a5edd1f906780d1fd71ce5d9b271"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ui+unHHOcsmhAx6lLD5oY1xtirF8WH6AFFC/WszTTdWEzPR6OPR89okp8YrjoWMj+DZpItrURdZXG9NTo/aICw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T17:17:26.471034Z","bundle_sha256":"017ef0f566e5efb77e2abe7686b2f9393a5011ff50603158568a7d45597c4965"}}