{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2014:HM6VPBA7PCMM72PGZEJKXYCTDE","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":"e1ec940cd92cf3f96563b5a9944ddcec48cf3037fcb3a3cea708b20bfe535795","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-05-21T09:32:15Z","title_canon_sha256":"da339161dd6fc1f0a4eee0cfdfce6b5c45c54126f15d022db6e8a50d201c5b00"},"schema_version":"1.0","source":{"id":"1405.5345","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1405.5345","created_at":"2026-05-18T02:49:53Z"},{"alias_kind":"arxiv_version","alias_value":"1405.5345v2","created_at":"2026-05-18T02:49:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1405.5345","created_at":"2026-05-18T02:49:53Z"},{"alias_kind":"pith_short_12","alias_value":"HM6VPBA7PCMM","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_16","alias_value":"HM6VPBA7PCMM72PG","created_at":"2026-05-18T12:28:30Z"},{"alias_kind":"pith_short_8","alias_value":"HM6VPBA7","created_at":"2026-05-18T12:28:30Z"}],"graph_snapshots":[{"event_id":"sha256:87729b90682ee6970f21bbc272e595ebf8aacff84c799d074de7841747c6d704","target":"graph","created_at":"2026-05-18T02:49:53Z","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"},"paper":{"abstract_excerpt":"Hierarchical Task Network (HTN) planning is a popular approach that cuts down on the classical planning search space by relying on a given hierarchical library of domain control knowledge. This provides an intuitive methodology for specifying high-level instructions on how robots and agents should perform tasks, while also giving the planner enough flexibility to choose the lower-level steps and their ordering. In this paper we present the HATP (Hierarchical Agent-based Task Planner) planning framework which extends the traditional HTN planning domain representation and semantics by making the","authors_text":"Lavindra de Silva, Rachid Alami, Rapha\\\"el Lallement","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-05-21T09:32:15Z","title":"HATP: An HTN Planner for Robotics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1405.5345","kind":"arxiv","version":2},"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":"sha256:033b5fcbc03cd2bf800df7546e7e13f8756e387ab40accfbbf9cabad34905f96","target":"record","created_at":"2026-05-18T02:49:53Z","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":"e1ec940cd92cf3f96563b5a9944ddcec48cf3037fcb3a3cea708b20bfe535795","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","primary_cat":"cs.RO","submitted_at":"2014-05-21T09:32:15Z","title_canon_sha256":"da339161dd6fc1f0a4eee0cfdfce6b5c45c54126f15d022db6e8a50d201c5b00"},"schema_version":"1.0","source":{"id":"1405.5345","kind":"arxiv","version":2}},"canonical_sha256":"3b3d57841f7898cfe9e6c912abe053193a6496f9f47fa2ebe8895397c6a89100","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b3d57841f7898cfe9e6c912abe053193a6496f9f47fa2ebe8895397c6a89100","first_computed_at":"2026-05-18T02:49:53.403649Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T02:49:53.403649Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Gex4TFCDjBpeEbu8GMDuO9MIqIHi6neMhgM36lYbV0OAHI6j2lkKisnuRcDYYsdE4oUqkCRVEAmn+jVnQDVnBw==","signature_status":"signed_v1","signed_at":"2026-05-18T02:49:53.404074Z","signed_message":"canonical_sha256_bytes"},"source_id":"1405.5345","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:033b5fcbc03cd2bf800df7546e7e13f8756e387ab40accfbbf9cabad34905f96","sha256:87729b90682ee6970f21bbc272e595ebf8aacff84c799d074de7841747c6d704"],"state_sha256":"856d6bd26ff9dda2c4146092e76abdefedadb35b37118d7e4f7d42f7bb8ce764"}