{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:HOMTOLRAH6WPL5SSYLWADXKZ7O","short_pith_number":"pith:HOMTOLRA","canonical_record":{"source":{"id":"2008.10685","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-24T20:13:57Z","cross_cats_sorted":[],"title_canon_sha256":"a28f875c3fe0b27a60f115eec713219e5ea7ddc1e02ee41d006c34087121be7c","abstract_canon_sha256":"2ff79b1787d399001f42999bf81c4a39a37095529e674460c0a33672694bedda"},"schema_version":"1.0"},"canonical_sha256":"3b99372e203facf5f652c2ec01dd59fbb7325e59599fe8befbda1d9537effa1f","source":{"kind":"arxiv","id":"2008.10685","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.10685","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"arxiv_version","alias_value":"2008.10685v2","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.10685","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_12","alias_value":"HOMTOLRAH6WP","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_16","alias_value":"HOMTOLRAH6WPL5SS","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_8","alias_value":"HOMTOLRA","created_at":"2026-07-05T02:02:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:HOMTOLRAH6WPL5SSYLWADXKZ7O","target":"record","payload":{"canonical_record":{"source":{"id":"2008.10685","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-24T20:13:57Z","cross_cats_sorted":[],"title_canon_sha256":"a28f875c3fe0b27a60f115eec713219e5ea7ddc1e02ee41d006c34087121be7c","abstract_canon_sha256":"2ff79b1787d399001f42999bf81c4a39a37095529e674460c0a33672694bedda"},"schema_version":"1.0"},"canonical_sha256":"3b99372e203facf5f652c2ec01dd59fbb7325e59599fe8befbda1d9537effa1f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:02:05.824616Z","signature_b64":"gIdi4i1mYz6cn73YDoCro3T2yw21lsEV485/Py3Es5x13Cx4iHiUzReYHSFskxAhOJSxRqjGu4orCrzS+TyoCg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3b99372e203facf5f652c2ec01dd59fbb7325e59599fe8befbda1d9537effa1f","last_reissued_at":"2026-07-05T02:02:05.824212Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:02:05.824212Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.10685","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T02:02:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"S443/PIoT4rGNxGotRkxPYQnI1yKHECn8Yalunt9hoqWFGHqbf3krHSgZx0E6dBstl99oPGj8VnghtBM3a65Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:30:05.990759Z"},"content_sha256":"0bb96704df082e311e3f7f5ac152ec5c55c60274773c752325185ae9f6e93594","schema_version":"1.0","event_id":"sha256:0bb96704df082e311e3f7f5ac152ec5c55c60274773c752325185ae9f6e93594"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:HOMTOLRAH6WPL5SSYLWADXKZ7O","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Feature Guided Search for Creative Problem Solving Through Tool Construction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Lakshmi Nair, Sonia Chernova","submitted_at":"2020-08-24T20:13:57Z","abstract_excerpt":"Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool constructio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.10685","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/2008.10685/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":"2026-07-05T02:02:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"6SBwOBkHX24jATaK9PpcLLP3v7XjUXLk4S8QqntnZNwmzIg6LTveCY/OnULmMjgOVq5veUM/MbxYVNAdjQP1DA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T23:30:05.991134Z"},"content_sha256":"58c9505fae70392f26e543cb4f6c46aa89080885730ac7741162144448305f1c","schema_version":"1.0","event_id":"sha256:58c9505fae70392f26e543cb4f6c46aa89080885730ac7741162144448305f1c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/bundle.json","state_url":"https://pith.science/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/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":"2026-07-06T23:30:05Z","links":{"resolver":"https://pith.science/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O","bundle":"https://pith.science/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/bundle.json","state":"https://pith.science/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HOMTOLRAH6WPL5SSYLWADXKZ7O/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:HOMTOLRAH6WPL5SSYLWADXKZ7O","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":"2ff79b1787d399001f42999bf81c4a39a37095529e674460c0a33672694bedda","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-24T20:13:57Z","title_canon_sha256":"a28f875c3fe0b27a60f115eec713219e5ea7ddc1e02ee41d006c34087121be7c"},"schema_version":"1.0","source":{"id":"2008.10685","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.10685","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"arxiv_version","alias_value":"2008.10685v2","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.10685","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_12","alias_value":"HOMTOLRAH6WP","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_16","alias_value":"HOMTOLRAH6WPL5SS","created_at":"2026-07-05T02:02:05Z"},{"alias_kind":"pith_short_8","alias_value":"HOMTOLRA","created_at":"2026-07-05T02:02:05Z"}],"graph_snapshots":[{"event_id":"sha256:58c9505fae70392f26e543cb4f6c46aa89080885730ac7741162144448305f1c","target":"graph","created_at":"2026-07-05T02:02:05Z","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/2008.10685/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool constructio","authors_text":"Lakshmi Nair, Sonia Chernova","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-24T20:13:57Z","title":"Feature Guided Search for Creative Problem Solving Through Tool Construction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.10685","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":"sha256:0bb96704df082e311e3f7f5ac152ec5c55c60274773c752325185ae9f6e93594","target":"record","created_at":"2026-07-05T02:02:05Z","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":"2ff79b1787d399001f42999bf81c4a39a37095529e674460c0a33672694bedda","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-08-24T20:13:57Z","title_canon_sha256":"a28f875c3fe0b27a60f115eec713219e5ea7ddc1e02ee41d006c34087121be7c"},"schema_version":"1.0","source":{"id":"2008.10685","kind":"arxiv","version":2}},"canonical_sha256":"3b99372e203facf5f652c2ec01dd59fbb7325e59599fe8befbda1d9537effa1f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3b99372e203facf5f652c2ec01dd59fbb7325e59599fe8befbda1d9537effa1f","first_computed_at":"2026-07-05T02:02:05.824212Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:02:05.824212Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gIdi4i1mYz6cn73YDoCro3T2yw21lsEV485/Py3Es5x13Cx4iHiUzReYHSFskxAhOJSxRqjGu4orCrzS+TyoCg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:02:05.824616Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.10685","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0bb96704df082e311e3f7f5ac152ec5c55c60274773c752325185ae9f6e93594","sha256:58c9505fae70392f26e543cb4f6c46aa89080885730ac7741162144448305f1c"],"state_sha256":"e24da5f995b9d6fa2ca8a958347a01aee4db016c111e8da2e8ed1f3ca10b796d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+mcOhNSVU9Xd9PJOceVgr0Lw7wqVM6JRf9C/gIAzPvOnAL1Ehae1MK2cLwhhM2eH0VGpxtAKdALOFuvPyi7DBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T23:30:05.993208Z","bundle_sha256":"a42e5aedc32d1ced2eda8c1b963ba460a739a14aa2cbe7377167dcad8d63ec3e"}}