{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:7WSBZ566H7AV2CVGNB55K3WC3R","short_pith_number":"pith:7WSBZ566","canonical_record":{"source":{"id":"2507.14582","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-19T11:53:24Z","cross_cats_sorted":[],"title_canon_sha256":"4ffe2716458bc86dc0b88624b19c55b86f4f481638bf607f7cba27180dbc57bb","abstract_canon_sha256":"5e0414e7bfdd73cb0074cd4fc40b87a623be02c9f2a3e98df3cc215008c2ca18"},"schema_version":"1.0"},"canonical_sha256":"fda41cf7de3fc15d0aa6687bd56ec2dc6f1bef96c448ac4a2929052f2e698299","source":{"kind":"arxiv","id":"2507.14582","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.14582","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"arxiv_version","alias_value":"2507.14582v1","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.14582","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_12","alias_value":"7WSBZ566H7AV","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_16","alias_value":"7WSBZ566H7AV2CVG","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_8","alias_value":"7WSBZ566","created_at":"2026-07-05T11:40:09Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:7WSBZ566H7AV2CVGNB55K3WC3R","target":"record","payload":{"canonical_record":{"source":{"id":"2507.14582","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-19T11:53:24Z","cross_cats_sorted":[],"title_canon_sha256":"4ffe2716458bc86dc0b88624b19c55b86f4f481638bf607f7cba27180dbc57bb","abstract_canon_sha256":"5e0414e7bfdd73cb0074cd4fc40b87a623be02c9f2a3e98df3cc215008c2ca18"},"schema_version":"1.0"},"canonical_sha256":"fda41cf7de3fc15d0aa6687bd56ec2dc6f1bef96c448ac4a2929052f2e698299","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:40:09.881818Z","signature_b64":"IKT+tDPepRhzDqSpIkg9fvU3OY4dnEsYghgrtR5iloJCcQ4ZFPvEqGt9ixM6wb87fSj8V5gNzzSQYUbYdj05Cg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"fda41cf7de3fc15d0aa6687bd56ec2dc6f1bef96c448ac4a2929052f2e698299","last_reissued_at":"2026-07-05T11:40:09.881278Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:40:09.881278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.14582","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":"2026-07-05T11:40:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3HspNMmsUW0K1raJWdjW/szdR1aZ58bBA27pjVVjkPKUrXtMQ3PAuTFllUOBZQ3FbSb+9oOFPnQ69Mvy1QBmDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:52:26.354337Z"},"content_sha256":"8f087ba60b801b6bf48d87e00ef851575cb833440278d74e8a94a25e971bb9d9","schema_version":"1.0","event_id":"sha256:8f087ba60b801b6bf48d87e00ef851575cb833440278d74e8a94a25e971bb9d9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:7WSBZ566H7AV2CVGNB55K3WC3R","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Deyun Qin, Hanqian Luo, Shizhen Wu, Yongchun Fang, Zezhi Liu","submitted_at":"2025-07-19T11:53:24Z","abstract_excerpt":"In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned skills to new environments with different task and motion requirements, especially in long-horizon, multi-stage scenarios with intricate constraints. This paper proposes a novel hierarchical framework, called BT-TL-DMPs, that integrates Behavior Tree (BT), Temporal Logic (TL), and Dynamical Movement Primitives (DMPs) to address this problem. Within this fram"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.14582","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/2507.14582/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":"2026-07-05T11:40:09Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EDQ5w9S7cBZki0PTLiuLo2DdT6+n0HNtCDlhDpPkhHwMHa6tDT+RBJCSMrlNnEqpT55Y/xIebqWL3jghsR6+Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T11:52:26.354833Z"},"content_sha256":"0aba583b2f5b70c5aa90d781ee3b9b51d4df022c6f1c1d31097175b5fb0ee2d9","schema_version":"1.0","event_id":"sha256:0aba583b2f5b70c5aa90d781ee3b9b51d4df022c6f1c1d31097175b5fb0ee2d9"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/7WSBZ566H7AV2CVGNB55K3WC3R/bundle.json","state_url":"https://pith.science/pith/7WSBZ566H7AV2CVGNB55K3WC3R/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/7WSBZ566H7AV2CVGNB55K3WC3R/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":"2026-08-08T11:52:26Z","links":{"resolver":"https://pith.science/pith/7WSBZ566H7AV2CVGNB55K3WC3R","bundle":"https://pith.science/pith/7WSBZ566H7AV2CVGNB55K3WC3R/bundle.json","state":"https://pith.science/pith/7WSBZ566H7AV2CVGNB55K3WC3R/state.json","well_known_bundle":"https://pith.science/.well-known/pith/7WSBZ566H7AV2CVGNB55K3WC3R/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:7WSBZ566H7AV2CVGNB55K3WC3R","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":"5e0414e7bfdd73cb0074cd4fc40b87a623be02c9f2a3e98df3cc215008c2ca18","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-19T11:53:24Z","title_canon_sha256":"4ffe2716458bc86dc0b88624b19c55b86f4f481638bf607f7cba27180dbc57bb"},"schema_version":"1.0","source":{"id":"2507.14582","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.14582","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"arxiv_version","alias_value":"2507.14582v1","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.14582","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_12","alias_value":"7WSBZ566H7AV","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_16","alias_value":"7WSBZ566H7AV2CVG","created_at":"2026-07-05T11:40:09Z"},{"alias_kind":"pith_short_8","alias_value":"7WSBZ566","created_at":"2026-07-05T11:40:09Z"}],"graph_snapshots":[{"event_id":"sha256:0aba583b2f5b70c5aa90d781ee3b9b51d4df022c6f1c1d31097175b5fb0ee2d9","target":"graph","created_at":"2026-07-05T11:40:09Z","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/2507.14582/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In the field of Learning from Demonstration (LfD), enabling robots to generalize learned manipulation skills to novel scenarios for long-horizon tasks remains challenging. Specifically, it is still difficult for robots to adapt the learned skills to new environments with different task and motion requirements, especially in long-horizon, multi-stage scenarios with intricate constraints. This paper proposes a novel hierarchical framework, called BT-TL-DMPs, that integrates Behavior Tree (BT), Temporal Logic (TL), and Dynamical Movement Primitives (DMPs) to address this problem. Within this fram","authors_text":"Deyun Qin, Hanqian Luo, Shizhen Wu, Yongchun Fang, Zezhi Liu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-19T11:53:24Z","title":"BT-TL-DMPs: A Novel Robot TAMP Framework Combining Behavior Tree, Temporal Logic and Dynamical Movement Primitives"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.14582","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":"sha256:8f087ba60b801b6bf48d87e00ef851575cb833440278d74e8a94a25e971bb9d9","target":"record","created_at":"2026-07-05T11:40:09Z","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":"5e0414e7bfdd73cb0074cd4fc40b87a623be02c9f2a3e98df3cc215008c2ca18","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-07-19T11:53:24Z","title_canon_sha256":"4ffe2716458bc86dc0b88624b19c55b86f4f481638bf607f7cba27180dbc57bb"},"schema_version":"1.0","source":{"id":"2507.14582","kind":"arxiv","version":1}},"canonical_sha256":"fda41cf7de3fc15d0aa6687bd56ec2dc6f1bef96c448ac4a2929052f2e698299","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"fda41cf7de3fc15d0aa6687bd56ec2dc6f1bef96c448ac4a2929052f2e698299","first_computed_at":"2026-07-05T11:40:09.881278Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:40:09.881278Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IKT+tDPepRhzDqSpIkg9fvU3OY4dnEsYghgrtR5iloJCcQ4ZFPvEqGt9ixM6wb87fSj8V5gNzzSQYUbYdj05Cg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:40:09.881818Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.14582","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8f087ba60b801b6bf48d87e00ef851575cb833440278d74e8a94a25e971bb9d9","sha256:0aba583b2f5b70c5aa90d781ee3b9b51d4df022c6f1c1d31097175b5fb0ee2d9"],"state_sha256":"e4982246ba5967d5da026b6da90263579aee0050a6f0c0b80d6a393bd6f60e09"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RWS9DpTTtnf8MgSlMTs3hi+gue5oRnY/PaXuifn66cJReoC7DJ/76at9WG5jPrAbsfSt/IaRKYwqEJAo9OF+DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T11:52:26.358744Z","bundle_sha256":"2f005de79fd3e0db98aad65de3e07c0ce1513208f79f8f47e5ba62a489bd4680"}}