{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:B5VVOTV73DCRV2PQFEOCSSYKY7","short_pith_number":"pith:B5VVOTV7","canonical_record":{"source":{"id":"2412.01663","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-02T16:14:05Z","cross_cats_sorted":[],"title_canon_sha256":"392bf6a21100fff42ed86450cf781891aec7641eb8453db7ce4bd112bed14aea","abstract_canon_sha256":"d0579edb4f63caaa1e2db964c2cf7a1a0a0a850a62cc336dda4e849450ceeca3"},"schema_version":"1.0"},"canonical_sha256":"0f6b574ebfd8c51ae9f0291c294b0ac7c2abe8a2398cefc7bba48560043420fb","source":{"kind":"arxiv","id":"2412.01663","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.01663","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"arxiv_version","alias_value":"2412.01663v1","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.01663","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_12","alias_value":"B5VVOTV73DCR","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_16","alias_value":"B5VVOTV73DCRV2PQ","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_8","alias_value":"B5VVOTV7","created_at":"2026-07-05T09:43:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:B5VVOTV73DCRV2PQFEOCSSYKY7","target":"record","payload":{"canonical_record":{"source":{"id":"2412.01663","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-02T16:14:05Z","cross_cats_sorted":[],"title_canon_sha256":"392bf6a21100fff42ed86450cf781891aec7641eb8453db7ce4bd112bed14aea","abstract_canon_sha256":"d0579edb4f63caaa1e2db964c2cf7a1a0a0a850a62cc336dda4e849450ceeca3"},"schema_version":"1.0"},"canonical_sha256":"0f6b574ebfd8c51ae9f0291c294b0ac7c2abe8a2398cefc7bba48560043420fb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T09:43:16.908116Z","signature_b64":"vuxdcYSky4MAs6aPJ6RhWdRxbYoXUKyOHL5doaCz28aylbsCfVoRhoz1+vBqUUR0iCao6xB25BndY427bOEcBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0f6b574ebfd8c51ae9f0291c294b0ac7c2abe8a2398cefc7bba48560043420fb","last_reissued_at":"2026-07-05T09:43:16.907681Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T09:43:16.907681Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2412.01663","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":"2026-07-05T09:43:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EzhbRJsJtzYe1l3942CDFJJPHD1oHZ89qYjOuLIVpTJBEcNy6nk+obZJEHUQaayzpmWbOZel0p+7kMn88PREAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:49:28.714259Z"},"content_sha256":"f8831bc1fe4d0fa310231cd882d60e8c8f6d7d5c1ef059f7fb440ac42be03354","schema_version":"1.0","event_id":"sha256:f8831bc1fe4d0fa310231cd882d60e8c8f6d7d5c1ef059f7fb440ac42be03354"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:B5VVOTV73DCRV2PQFEOCSSYKY7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DaDu-E: Rethinking the Role of Large Language Model in Robotic Computing Pipeline","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bo Yu, Sai Hou, Shaoshan Liu, Shuai Liang, Wenhao Sun, Xu Yang, Yiming Gan, Yinhe Han, Zixuan Wang","submitted_at":"2024-12-02T16:14:05Z","abstract_excerpt":"Performing complex tasks in open environments remains challenging for robots, even when using large language models (LLMs) as the core planner. Many LLM-based planners are inefficient due to their large number of parameters and prone to inaccuracies because they operate in open-loop systems. We think the reason is that only applying LLMs as planners is insufficient. In this work, we propose DaDu-E, a robust closed-loop planning framework for embodied AI robots. Specifically, DaDu-E is equipped with a relatively lightweight LLM, a set of encapsulated robot skill instructions, a robust feedback "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.01663","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/2412.01663/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":"2026-07-05T09:43:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CIdbplE/qhRXJe0FctVwWl8v0b1gPQoazZlIY1zTEC1Suj8JW8UQ3Zjb05/8KMa4hK6+16bFipRzGm1906M+Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T19:49:28.715242Z"},"content_sha256":"471cd056ce715a483534ca2128d099b88ed7005898ff28e89107a61d792a33ce","schema_version":"1.0","event_id":"sha256:471cd056ce715a483534ca2128d099b88ed7005898ff28e89107a61d792a33ce"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/bundle.json","state_url":"https://pith.science/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/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":"2026-08-05T19:49:28Z","links":{"resolver":"https://pith.science/pith/B5VVOTV73DCRV2PQFEOCSSYKY7","bundle":"https://pith.science/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/bundle.json","state":"https://pith.science/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/B5VVOTV73DCRV2PQFEOCSSYKY7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:B5VVOTV73DCRV2PQFEOCSSYKY7","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":"d0579edb4f63caaa1e2db964c2cf7a1a0a0a850a62cc336dda4e849450ceeca3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-02T16:14:05Z","title_canon_sha256":"392bf6a21100fff42ed86450cf781891aec7641eb8453db7ce4bd112bed14aea"},"schema_version":"1.0","source":{"id":"2412.01663","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.01663","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"arxiv_version","alias_value":"2412.01663v1","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.01663","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_12","alias_value":"B5VVOTV73DCR","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_16","alias_value":"B5VVOTV73DCRV2PQ","created_at":"2026-07-05T09:43:16Z"},{"alias_kind":"pith_short_8","alias_value":"B5VVOTV7","created_at":"2026-07-05T09:43:16Z"}],"graph_snapshots":[{"event_id":"sha256:471cd056ce715a483534ca2128d099b88ed7005898ff28e89107a61d792a33ce","target":"graph","created_at":"2026-07-05T09:43:16Z","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/2412.01663/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Performing complex tasks in open environments remains challenging for robots, even when using large language models (LLMs) as the core planner. Many LLM-based planners are inefficient due to their large number of parameters and prone to inaccuracies because they operate in open-loop systems. We think the reason is that only applying LLMs as planners is insufficient. In this work, we propose DaDu-E, a robust closed-loop planning framework for embodied AI robots. Specifically, DaDu-E is equipped with a relatively lightweight LLM, a set of encapsulated robot skill instructions, a robust feedback ","authors_text":"Bo Yu, Sai Hou, Shaoshan Liu, Shuai Liang, Wenhao Sun, Xu Yang, Yiming Gan, Yinhe Han, Zixuan Wang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-02T16:14:05Z","title":"DaDu-E: Rethinking the Role of Large Language Model in Robotic Computing Pipeline"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.01663","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:f8831bc1fe4d0fa310231cd882d60e8c8f6d7d5c1ef059f7fb440ac42be03354","target":"record","created_at":"2026-07-05T09:43:16Z","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":"d0579edb4f63caaa1e2db964c2cf7a1a0a0a850a62cc336dda4e849450ceeca3","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-12-02T16:14:05Z","title_canon_sha256":"392bf6a21100fff42ed86450cf781891aec7641eb8453db7ce4bd112bed14aea"},"schema_version":"1.0","source":{"id":"2412.01663","kind":"arxiv","version":1}},"canonical_sha256":"0f6b574ebfd8c51ae9f0291c294b0ac7c2abe8a2398cefc7bba48560043420fb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0f6b574ebfd8c51ae9f0291c294b0ac7c2abe8a2398cefc7bba48560043420fb","first_computed_at":"2026-07-05T09:43:16.907681Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:43:16.907681Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vuxdcYSky4MAs6aPJ6RhWdRxbYoXUKyOHL5doaCz28aylbsCfVoRhoz1+vBqUUR0iCao6xB25BndY427bOEcBw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:43:16.908116Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.01663","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f8831bc1fe4d0fa310231cd882d60e8c8f6d7d5c1ef059f7fb440ac42be03354","sha256:471cd056ce715a483534ca2128d099b88ed7005898ff28e89107a61d792a33ce"],"state_sha256":"4cf1a6dde1b708b6f35d0df52cd7e0c0c7987e73a985a7772b24376d7505af11"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m6FynEE8IVKiOV6q4SSMhI6p6Ods8Jnow2hvsQsZXbKXryLcrbNM6fgva9xzI2FVG9yBKgcz+Gp/KQ5U1JLPAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T19:49:28.722691Z","bundle_sha256":"b755b4fb178cbeea0364ff50318c935b1f51b57d7773b99b1899ef2276466cd5"}}