{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:J4VSCQTYGVRNKBXRHFFS35UIS7","short_pith_number":"pith:J4VSCQTY","canonical_record":{"source":{"id":"2107.04836","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-10T13:29:20Z","cross_cats_sorted":[],"title_canon_sha256":"f61a1cdc1b8db4e7cba6778b3d03dda40c4b801f479cb55bc68c285aaff93d01","abstract_canon_sha256":"76c695627478cacae786a29b6819a58f9cd542ebf28f6e24794b2cc24e50fa5c"},"schema_version":"1.0"},"canonical_sha256":"4f2b2142783562d506f1394b2df68897c6bb8298966331b4f82fe4c2c00fa31f","source":{"kind":"arxiv","id":"2107.04836","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.04836","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"arxiv_version","alias_value":"2107.04836v1","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.04836","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_12","alias_value":"J4VSCQTYGVRN","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_16","alias_value":"J4VSCQTYGVRNKBXR","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_8","alias_value":"J4VSCQTY","created_at":"2026-07-05T02:56:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:J4VSCQTYGVRNKBXRHFFS35UIS7","target":"record","payload":{"canonical_record":{"source":{"id":"2107.04836","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-10T13:29:20Z","cross_cats_sorted":[],"title_canon_sha256":"f61a1cdc1b8db4e7cba6778b3d03dda40c4b801f479cb55bc68c285aaff93d01","abstract_canon_sha256":"76c695627478cacae786a29b6819a58f9cd542ebf28f6e24794b2cc24e50fa5c"},"schema_version":"1.0"},"canonical_sha256":"4f2b2142783562d506f1394b2df68897c6bb8298966331b4f82fe4c2c00fa31f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:56:43.285895Z","signature_b64":"SAshdOooVDl6fvdhMq5FpnuhONxznZr1629xG0DmV+aG/iMCJIKw6GZRuFl9BLktV7g+XXbCNxxXW8a/sK4rBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4f2b2142783562d506f1394b2df68897c6bb8298966331b4f82fe4c2c00fa31f","last_reissued_at":"2026-07-05T02:56:43.285255Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:56:43.285255Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2107.04836","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":"2026-07-05T02:56:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1HxMPUudNR5pb1UZhP/JFXOEiP487z6B1PcGo5mrKGtl8LtokgU+eeIKfyU+Pu0LNxtE1HwhtBuWNE2s7EkvCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:15:28.726840Z"},"content_sha256":"3858cca367cace132fcb21f7139cf754325508351205d5ee09442b0281c1c10e","schema_version":"1.0","event_id":"sha256:3858cca367cace132fcb21f7139cf754325508351205d5ee09442b0281c1c10e"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:J4VSCQTYGVRNKBXRHFFS35UIS7","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bilge Mutlu, Emmanuel Senft, Michael Gleicher, Michael Hagenow, Michael Zinn, Robert Radwin","submitted_at":"2021-07-10T13:29:20Z","abstract_excerpt":"Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task variables (e.g., spinning speed of a tool, applied force, path) to address the specific needs of a task. However, this inherent flexibility makes the choice of what corrections to allow at any given instant difficult to determine. This choice of corrections includes determining appropriate robot state variables, scaling for these variables, and a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.04836","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/2107.04836/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":"2026-07-05T02:56:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uSURQhQgiTCTAo1vGxVxnOq3BND6rz/79Rp8IZa/f1ZzDzrHZd5u534qPSs6aUgiDznhKYy41WdKuffWviveCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T02:15:28.727216Z"},"content_sha256":"380e12b81e73c4a4804f6ca4c2c8500017212b56c3331b9088040e505aa553e0","schema_version":"1.0","event_id":"sha256:380e12b81e73c4a4804f6ca4c2c8500017212b56c3331b9088040e505aa553e0"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/bundle.json","state_url":"https://pith.science/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/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":"2026-07-09T02:15:28Z","links":{"resolver":"https://pith.science/pith/J4VSCQTYGVRNKBXRHFFS35UIS7","bundle":"https://pith.science/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/bundle.json","state":"https://pith.science/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/state.json","well_known_bundle":"https://pith.science/.well-known/pith/J4VSCQTYGVRNKBXRHFFS35UIS7/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:J4VSCQTYGVRNKBXRHFFS35UIS7","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":"76c695627478cacae786a29b6819a58f9cd542ebf28f6e24794b2cc24e50fa5c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-10T13:29:20Z","title_canon_sha256":"f61a1cdc1b8db4e7cba6778b3d03dda40c4b801f479cb55bc68c285aaff93d01"},"schema_version":"1.0","source":{"id":"2107.04836","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2107.04836","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"arxiv_version","alias_value":"2107.04836v1","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2107.04836","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_12","alias_value":"J4VSCQTYGVRN","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_16","alias_value":"J4VSCQTYGVRNKBXR","created_at":"2026-07-05T02:56:43Z"},{"alias_kind":"pith_short_8","alias_value":"J4VSCQTY","created_at":"2026-07-05T02:56:43Z"}],"graph_snapshots":[{"event_id":"sha256:380e12b81e73c4a4804f6ca4c2c8500017212b56c3331b9088040e505aa553e0","target":"graph","created_at":"2026-07-05T02:56:43Z","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/2107.04836/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task variables (e.g., spinning speed of a tool, applied force, path) to address the specific needs of a task. However, this inherent flexibility makes the choice of what corrections to allow at any given instant difficult to determine. This choice of corrections includes determining appropriate robot state variables, scaling for these variables, and a","authors_text":"Bilge Mutlu, Emmanuel Senft, Michael Gleicher, Michael Hagenow, Michael Zinn, Robert Radwin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-10T13:29:20Z","title":"Informing Real-time Corrections in Corrective Shared Autonomy Through Expert Demonstrations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2107.04836","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":"sha256:3858cca367cace132fcb21f7139cf754325508351205d5ee09442b0281c1c10e","target":"record","created_at":"2026-07-05T02:56:43Z","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":"76c695627478cacae786a29b6819a58f9cd542ebf28f6e24794b2cc24e50fa5c","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-07-10T13:29:20Z","title_canon_sha256":"f61a1cdc1b8db4e7cba6778b3d03dda40c4b801f479cb55bc68c285aaff93d01"},"schema_version":"1.0","source":{"id":"2107.04836","kind":"arxiv","version":1}},"canonical_sha256":"4f2b2142783562d506f1394b2df68897c6bb8298966331b4f82fe4c2c00fa31f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4f2b2142783562d506f1394b2df68897c6bb8298966331b4f82fe4c2c00fa31f","first_computed_at":"2026-07-05T02:56:43.285255Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:56:43.285255Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"SAshdOooVDl6fvdhMq5FpnuhONxznZr1629xG0DmV+aG/iMCJIKw6GZRuFl9BLktV7g+XXbCNxxXW8a/sK4rBg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:56:43.285895Z","signed_message":"canonical_sha256_bytes"},"source_id":"2107.04836","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3858cca367cace132fcb21f7139cf754325508351205d5ee09442b0281c1c10e","sha256:380e12b81e73c4a4804f6ca4c2c8500017212b56c3331b9088040e505aa553e0"],"state_sha256":"b7806e0109140b225457c7d5188c716fe5be645b680f7b4d59509707f204433f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CQ1QNGhHn94dpG6NpRj7WohFHGan9WzpYiTYD9HI9wIlxFu/2OWGcEXDwj42n7cILlCCm043TGV6bEFnpsATCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T02:15:28.729313Z","bundle_sha256":"27af253f69a61d142a80225524a9d07f27da27970dad6d682c04e39bc89fbe63"}}