{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:EG7NV52RYPTIPFI4LCKN24Y2CR","short_pith_number":"pith:EG7NV52R","schema_version":"1.0","canonical_sha256":"21bedaf751c3e687951c5894dd731a147881decfe35527aafa464944863b8c9f","source":{"kind":"arxiv","id":"2312.02488","version":2},"attestation_state":"computed","paper":{"title":"Design and Evaluation of an Uncertainty-Aware Shared-Autonomy System with Hierarchical Conservative Skill Inference","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Donghyung Kim, Jaehong Kim, Minsu Jang, Taewoo Kim","submitted_at":"2023-12-05T04:32:40Z","abstract_excerpt":"Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or erroneous interventions. We present an uncertainty-aware shared-autonomy system in which the robot modulates its behaviour according to a learned estimate of latent-space skill uncertainty. A hierarchical policy first infers a conservative skill embedding and then decodes it into low-level actions, enabling rapid task execution while automatically slowing do"},"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":"2312.02488","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-12-05T04:32:40Z","cross_cats_sorted":[],"title_canon_sha256":"d390c1381e24874464783a88cffb08441913b9795c6632d36ab4ece77aef0f43","abstract_canon_sha256":"0dcd6f11ba15c8d9358bfee5b5968aa33382cffb09e9c78047c3455e73a4e3a8"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:22:29.317994Z","signature_b64":"XwTo4cZur0D3BcBdFTmu4ifkl9lzMba7t/MlyC5JqvIjuwjo/V4wl+/dMgOLkWOAQtz57AErWVuKaP7ElpQoDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"21bedaf751c3e687951c5894dd731a147881decfe35527aafa464944863b8c9f","last_reissued_at":"2026-07-05T11:22:29.317420Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:22:29.317420Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Design and Evaluation of an Uncertainty-Aware Shared-Autonomy System with Hierarchical Conservative Skill Inference","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Donghyung Kim, Jaehong Kim, Minsu Jang, Taewoo Kim","submitted_at":"2023-12-05T04:32:40Z","abstract_excerpt":"Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or erroneous interventions. We present an uncertainty-aware shared-autonomy system in which the robot modulates its behaviour according to a learned estimate of latent-space skill uncertainty. A hierarchical policy first infers a conservative skill embedding and then decodes it into low-level actions, enabling rapid task execution while automatically slowing do"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2312.02488","kind":"arxiv","version":2},"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/2312.02488/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":"2312.02488","created_at":"2026-07-05T11:22:29.317490+00:00"},{"alias_kind":"arxiv_version","alias_value":"2312.02488v2","created_at":"2026-07-05T11:22:29.317490+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2312.02488","created_at":"2026-07-05T11:22:29.317490+00:00"},{"alias_kind":"pith_short_12","alias_value":"EG7NV52RYPTI","created_at":"2026-07-05T11:22:29.317490+00:00"},{"alias_kind":"pith_short_16","alias_value":"EG7NV52RYPTIPFI4","created_at":"2026-07-05T11:22:29.317490+00:00"},{"alias_kind":"pith_short_8","alias_value":"EG7NV52R","created_at":"2026-07-05T11:22:29.317490+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/EG7NV52RYPTIPFI4LCKN24Y2CR","json":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR.json","graph_json":"https://pith.science/api/pith-number/EG7NV52RYPTIPFI4LCKN24Y2CR/graph.json","events_json":"https://pith.science/api/pith-number/EG7NV52RYPTIPFI4LCKN24Y2CR/events.json","paper":"https://pith.science/paper/EG7NV52R"},"agent_actions":{"view_html":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR","download_json":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR.json","view_paper":"https://pith.science/paper/EG7NV52R","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2312.02488&json=true","fetch_graph":"https://pith.science/api/pith-number/EG7NV52RYPTIPFI4LCKN24Y2CR/graph.json","fetch_events":"https://pith.science/api/pith-number/EG7NV52RYPTIPFI4LCKN24Y2CR/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR/action/timestamp_anchor","attest_storage":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR/action/storage_attestation","attest_author":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR/action/author_attestation","sign_citation":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR/action/citation_signature","submit_replication":"https://pith.science/pith/EG7NV52RYPTIPFI4LCKN24Y2CR/action/replication_record"}},"created_at":"2026-07-05T11:22:29.317490+00:00","updated_at":"2026-07-05T11:22:29.317490+00:00"}