{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:A7ZJTATHEPBFO6VRFCMA3FSBX4","short_pith_number":"pith:A7ZJTATH","schema_version":"1.0","canonical_sha256":"07f299826723c2577ab128980d9641bf239bda35b95a56fa2c71efa6f9f63196","source":{"kind":"arxiv","id":"2408.16125","version":1},"attestation_state":"computed","paper":{"title":"DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Diego Romeres, Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain","submitted_at":"2024-08-28T20:26:32Z","abstract_excerpt":"This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that the agent is not bound by a pre-established sequence of actions and instead acts according to its own preferences. Meanwhile, the task planner computes reactively the optimal actions for the collaborative robot to efficiently complete the entire assembly task in the least time possible. We formalize the problem as a Discrete Event Markov Decision Problem (DE-M"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2408.16125","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-28T20:26:32Z","cross_cats_sorted":[],"title_canon_sha256":"87be439ed62556c0f15b52bad5453a1e96449eff75e6af7f1aaf4828fb33189b","abstract_canon_sha256":"bb5b42cd4df7cef9b67daff09e86a304fc0adba0550b7a1b6a4ad8c20b26ce32"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:00:26.303601Z","signature_b64":"bsX03uX3dx4kSHLCRK6/+E3iN5+Hw8Cs5pQfhlS3E3GDyp+R2vUpMQOO34TsUp+Y4XFYUHllsrwDmd6K2zxiCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"07f299826723c2577ab128980d9641bf239bda35b95a56fa2c71efa6f9f63196","last_reissued_at":"2026-07-05T09:00:26.303131Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:00:26.303131Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"DECAF: a Discrete-Event based Collaborative Human-Robot Framework for Furniture Assembly","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Diego Romeres, Giulio Giacomuzzo, Matteo Terreran, Siddarth Jain","submitted_at":"2024-08-28T20:26:32Z","abstract_excerpt":"This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that the agent is not bound by a pre-established sequence of actions and instead acts according to its own preferences. Meanwhile, the task planner computes reactively the optimal actions for the collaborative robot to efficiently complete the entire assembly task in the least time possible. We formalize the problem as a Discrete Event Markov Decision Problem (DE-M"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.16125","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/2408.16125/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2408.16125","created_at":"2026-07-05T09:00:26.303195+00:00"},{"alias_kind":"arxiv_version","alias_value":"2408.16125v1","created_at":"2026-07-05T09:00:26.303195+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.16125","created_at":"2026-07-05T09:00:26.303195+00:00"},{"alias_kind":"pith_short_12","alias_value":"A7ZJTATHEPBF","created_at":"2026-07-05T09:00:26.303195+00:00"},{"alias_kind":"pith_short_16","alias_value":"A7ZJTATHEPBFO6VR","created_at":"2026-07-05T09:00:26.303195+00:00"},{"alias_kind":"pith_short_8","alias_value":"A7ZJTATH","created_at":"2026-07-05T09:00:26.303195+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4","json":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4.json","graph_json":"https://pith.science/api/pith-number/A7ZJTATHEPBFO6VRFCMA3FSBX4/graph.json","events_json":"https://pith.science/api/pith-number/A7ZJTATHEPBFO6VRFCMA3FSBX4/events.json","paper":"https://pith.science/paper/A7ZJTATH"},"agent_actions":{"view_html":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4","download_json":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4.json","view_paper":"https://pith.science/paper/A7ZJTATH","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2408.16125&json=true","fetch_graph":"https://pith.science/api/pith-number/A7ZJTATHEPBFO6VRFCMA3FSBX4/graph.json","fetch_events":"https://pith.science/api/pith-number/A7ZJTATHEPBFO6VRFCMA3FSBX4/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4/action/timestamp_anchor","attest_storage":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4/action/storage_attestation","attest_author":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4/action/author_attestation","sign_citation":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4/action/citation_signature","submit_replication":"https://pith.science/pith/A7ZJTATHEPBFO6VRFCMA3FSBX4/action/replication_record"}},"created_at":"2026-07-05T09:00:26.303195+00:00","updated_at":"2026-07-05T09:00:26.303195+00:00"}