{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:BWJF27ECDWVUA7W7PKRD3MC4XF","short_pith_number":"pith:BWJF27EC","canonical_record":{"source":{"id":"2202.04611","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-02-09T18:10:20Z","cross_cats_sorted":[],"title_canon_sha256":"492bb23c13b3696938a9c5e6ad3cee33e121c84081af0dd185a9fc590d31fb9d","abstract_canon_sha256":"1ea4ca078fe09eb296aee18455bc5c7d565f2a2e78cae9be9b4f1fc62ab7f0d2"},"schema_version":"1.0"},"canonical_sha256":"0d925d7c821dab407edf7aa23db05cb952706b528dc48de3d5e64e7e1d92b5bf","source":{"kind":"arxiv","id":"2202.04611","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.04611","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"arxiv_version","alias_value":"2202.04611v1","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.04611","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_12","alias_value":"BWJF27ECDWVU","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_16","alias_value":"BWJF27ECDWVUA7W7","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_8","alias_value":"BWJF27EC","created_at":"2026-07-05T03:55:39Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:BWJF27ECDWVUA7W7PKRD3MC4XF","target":"record","payload":{"canonical_record":{"source":{"id":"2202.04611","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-02-09T18:10:20Z","cross_cats_sorted":[],"title_canon_sha256":"492bb23c13b3696938a9c5e6ad3cee33e121c84081af0dd185a9fc590d31fb9d","abstract_canon_sha256":"1ea4ca078fe09eb296aee18455bc5c7d565f2a2e78cae9be9b4f1fc62ab7f0d2"},"schema_version":"1.0"},"canonical_sha256":"0d925d7c821dab407edf7aa23db05cb952706b528dc48de3d5e64e7e1d92b5bf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:55:39.148849Z","signature_b64":"V8+VKqiXrC+ShVNvj1C9HElMHv5BawLdaHEFpsRX29Adw6wppr1FCTjnZL3LiNkeLB4hUz8EAaUbl1Iy7HvECA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"0d925d7c821dab407edf7aa23db05cb952706b528dc48de3d5e64e7e1d92b5bf","last_reissued_at":"2026-07-05T03:55:39.148423Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:55:39.148423Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2202.04611","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":"2026-07-05T03:55:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PooFzodq0BRRCae0ujrtqRSdqD7Hsf+G8YB8nJLZyV5BhLN1GyjNoBXTpm2DsGSTeTQYEWgcjaCM0R6G5WO4DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T21:34:47.462736Z"},"content_sha256":"f062d2fbbfebd3c9d187da292401bd2d8481e0552e6f4e8cbe30dd47bd5e296d","schema_version":"1.0","event_id":"sha256:f062d2fbbfebd3c9d187da292401bd2d8481e0552e6f4e8cbe30dd47bd5e296d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:BWJF27ECDWVUA7W7PKRD3MC4XF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Task Modifiers for HTN Planning and Acting","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.AI","authors_text":"Hector Munoz-Avila, Lifang He, Michael Cox, Sravya Kondrakunta, Venkatsampath Raja Gogineni, Weihang Yuan","submitted_at":"2022-02-09T18:10:20Z","abstract_excerpt":"The ability of an agent to change its objectives in response to unexpected events is desirable in dynamic environments. In order to provide this capability to hierarchical task network (HTN) planning, we propose an extension of the paradigm called task modifiers, which are functions that receive a task list and a state and produce a new task list. We focus on a particular type of problems in which planning and execution are interleaved and the ability to handle exogenous events is crucial. To determine the efficacy of this approach, we evaluate the performance of our task modifier implementati"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.04611","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/2202.04611/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":"2026-07-05T03:55:39Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"R4Lmv28gd7E3piyEOWayq7djaJBOtq2M6qTpY0mOq5uXCk92+6UehTaPxqytRxL/7o/2NuiifXKIHpbK2OlZDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-18T21:34:47.463278Z"},"content_sha256":"5b57315406615312388327fd03d5a57c12658c6ff4ca1d08ae723b43d1fb9632","schema_version":"1.0","event_id":"sha256:5b57315406615312388327fd03d5a57c12658c6ff4ca1d08ae723b43d1fb9632"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/bundle.json","state_url":"https://pith.science/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/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":"2026-08-18T21:34:47Z","links":{"resolver":"https://pith.science/pith/BWJF27ECDWVUA7W7PKRD3MC4XF","bundle":"https://pith.science/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/bundle.json","state":"https://pith.science/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/BWJF27ECDWVUA7W7PKRD3MC4XF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:BWJF27ECDWVUA7W7PKRD3MC4XF","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":"1ea4ca078fe09eb296aee18455bc5c7d565f2a2e78cae9be9b4f1fc62ab7f0d2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-02-09T18:10:20Z","title_canon_sha256":"492bb23c13b3696938a9c5e6ad3cee33e121c84081af0dd185a9fc590d31fb9d"},"schema_version":"1.0","source":{"id":"2202.04611","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2202.04611","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"arxiv_version","alias_value":"2202.04611v1","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2202.04611","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_12","alias_value":"BWJF27ECDWVU","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_16","alias_value":"BWJF27ECDWVUA7W7","created_at":"2026-07-05T03:55:39Z"},{"alias_kind":"pith_short_8","alias_value":"BWJF27EC","created_at":"2026-07-05T03:55:39Z"}],"graph_snapshots":[{"event_id":"sha256:5b57315406615312388327fd03d5a57c12658c6ff4ca1d08ae723b43d1fb9632","target":"graph","created_at":"2026-07-05T03:55:39Z","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/2202.04611/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The ability of an agent to change its objectives in response to unexpected events is desirable in dynamic environments. In order to provide this capability to hierarchical task network (HTN) planning, we propose an extension of the paradigm called task modifiers, which are functions that receive a task list and a state and produce a new task list. We focus on a particular type of problems in which planning and execution are interleaved and the ability to handle exogenous events is crucial. To determine the efficacy of this approach, we evaluate the performance of our task modifier implementati","authors_text":"Hector Munoz-Avila, Lifang He, Michael Cox, Sravya Kondrakunta, Venkatsampath Raja Gogineni, Weihang Yuan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-02-09T18:10:20Z","title":"Task Modifiers for HTN Planning and Acting"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2202.04611","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:f062d2fbbfebd3c9d187da292401bd2d8481e0552e6f4e8cbe30dd47bd5e296d","target":"record","created_at":"2026-07-05T03:55:39Z","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":"1ea4ca078fe09eb296aee18455bc5c7d565f2a2e78cae9be9b4f1fc62ab7f0d2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2022-02-09T18:10:20Z","title_canon_sha256":"492bb23c13b3696938a9c5e6ad3cee33e121c84081af0dd185a9fc590d31fb9d"},"schema_version":"1.0","source":{"id":"2202.04611","kind":"arxiv","version":1}},"canonical_sha256":"0d925d7c821dab407edf7aa23db05cb952706b528dc48de3d5e64e7e1d92b5bf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"0d925d7c821dab407edf7aa23db05cb952706b528dc48de3d5e64e7e1d92b5bf","first_computed_at":"2026-07-05T03:55:39.148423Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:55:39.148423Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"V8+VKqiXrC+ShVNvj1C9HElMHv5BawLdaHEFpsRX29Adw6wppr1FCTjnZL3LiNkeLB4hUz8EAaUbl1Iy7HvECA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:55:39.148849Z","signed_message":"canonical_sha256_bytes"},"source_id":"2202.04611","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f062d2fbbfebd3c9d187da292401bd2d8481e0552e6f4e8cbe30dd47bd5e296d","sha256:5b57315406615312388327fd03d5a57c12658c6ff4ca1d08ae723b43d1fb9632"],"state_sha256":"13309ed06e3759e97fe7b5ff13e53041e10b04d903ee2f48702ff2567aaf4526"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"tM1/fFCSHjxSHuY+5k5dUYnCpTp4OC/iyeWvrHvQGO2PbRkYP9ulBgY2qy8/3nHGqvPDOcXOkW5kwD4i1T3vDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-18T21:34:47.468553Z","bundle_sha256":"09bd2b644ed63b321afe2ca967f780f8c63b24df8a4dbf957595db98d943c60f"}}