{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:MM4YC7DDV5VQ2ME3S4EVZIQ4Q5","short_pith_number":"pith:MM4YC7DD","canonical_record":{"source":{"id":"2302.01928","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-03T18:59:55Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"0f1811ee2476a02a6c5edc8f496e908e56e21485212ec160eb9b6710b58669e8","abstract_canon_sha256":"e43eb6e19c93d11a1ed094ed26c24acd9e10f0f49593bd85699c99faeeca279c"},"schema_version":"1.0"},"canonical_sha256":"6339817c63af6b0d309b97095ca21c875df1c2901dbb74a69d8e0ac5b3c8ec2c","source":{"kind":"arxiv","id":"2302.01928","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.01928","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"arxiv_version","alias_value":"2302.01928v2","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.01928","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_12","alias_value":"MM4YC7DDV5VQ","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_16","alias_value":"MM4YC7DDV5VQ2ME3","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_8","alias_value":"MM4YC7DD","created_at":"2026-07-05T07:38:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:MM4YC7DDV5VQ2ME3S4EVZIQ4Q5","target":"record","payload":{"canonical_record":{"source":{"id":"2302.01928","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-03T18:59:55Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"0f1811ee2476a02a6c5edc8f496e908e56e21485212ec160eb9b6710b58669e8","abstract_canon_sha256":"e43eb6e19c93d11a1ed094ed26c24acd9e10f0f49593bd85699c99faeeca279c"},"schema_version":"1.0"},"canonical_sha256":"6339817c63af6b0d309b97095ca21c875df1c2901dbb74a69d8e0ac5b3c8ec2c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:38:25.867801Z","signature_b64":"xodFhEsm/T18IavIRDME4gNJBmTufUxEiXym92NBPPou6od6kIpnoMF+5ocJKR1w6zM5by1FtTYtvCWS2lBNAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6339817c63af6b0d309b97095ca21c875df1c2901dbb74a69d8e0ac5b3c8ec2c","last_reissued_at":"2026-07-05T07:38:25.867415Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:38:25.867415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2302.01928","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":"2026-07-05T07:38:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"rN5xDz5CbjicW8LH3LotyXNhBJ+IWgEDKkwfa4hM1HCk0LDV4ABd3QmNjlG3wouhz3Sye3WH6z4mjAr5xoRSBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T10:39:34.082977Z"},"content_sha256":"3acbfb5793ca322fd2de483887b0dd50f12ec797bd463a636b1186304640a4fe","schema_version":"1.0","event_id":"sha256:3acbfb5793ca322fd2de483887b0dd50f12ec797bd463a636b1186304640a4fe"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:MM4YC7DDV5VQ2ME3S4EVZIQ4Q5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Aligning Robot and Human Representations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Anca D. Dragan, Andi Peng, Andreea Bobu, Julie Shah, Pulkit Agrawal","submitted_at":"2023-02-03T18:59:55Z","abstract_excerpt":"To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with people, their representations must not be just functional but also reflective of what humans care about, i.e. they must be aligned. We observe that current learning approaches suffer from representation misalignment, where the robot's learned representation does not capture the human's representation. We suggest that because humans are the ultimate evaluator o"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.01928","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/2302.01928/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":"2026-07-05T07:38:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"goB+8g0ai0IsKNVEWfAxShnp/ae5tjqTtdd3iGDXc06zm63wqsS283J7kx1p8jd5I+4kyR4njrkerwAQxpa8Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T10:39:34.083641Z"},"content_sha256":"7ff14cdf1d927e6d2fc93ef982cd765fa81c0c1aeddc6acddb299d482f956070","schema_version":"1.0","event_id":"sha256:7ff14cdf1d927e6d2fc93ef982cd765fa81c0c1aeddc6acddb299d482f956070"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/bundle.json","state_url":"https://pith.science/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/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":"2026-08-07T10:39:34Z","links":{"resolver":"https://pith.science/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5","bundle":"https://pith.science/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/bundle.json","state":"https://pith.science/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MM4YC7DDV5VQ2ME3S4EVZIQ4Q5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:MM4YC7DDV5VQ2ME3S4EVZIQ4Q5","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":"e43eb6e19c93d11a1ed094ed26c24acd9e10f0f49593bd85699c99faeeca279c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-03T18:59:55Z","title_canon_sha256":"0f1811ee2476a02a6c5edc8f496e908e56e21485212ec160eb9b6710b58669e8"},"schema_version":"1.0","source":{"id":"2302.01928","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2302.01928","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"arxiv_version","alias_value":"2302.01928v2","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2302.01928","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_12","alias_value":"MM4YC7DDV5VQ","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_16","alias_value":"MM4YC7DDV5VQ2ME3","created_at":"2026-07-05T07:38:25Z"},{"alias_kind":"pith_short_8","alias_value":"MM4YC7DD","created_at":"2026-07-05T07:38:25Z"}],"graph_snapshots":[{"event_id":"sha256:7ff14cdf1d927e6d2fc93ef982cd765fa81c0c1aeddc6acddb299d482f956070","target":"graph","created_at":"2026-07-05T07:38:25Z","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/2302.01928/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"To act in the world, robots rely on a representation of salient task aspects: for example, to carry a coffee mug, a robot may consider movement efficiency or mug orientation in its behavior. However, if we want robots to act for and with people, their representations must not be just functional but also reflective of what humans care about, i.e. they must be aligned. We observe that current learning approaches suffer from representation misalignment, where the robot's learned representation does not capture the human's representation. We suggest that because humans are the ultimate evaluator o","authors_text":"Anca D. Dragan, Andi Peng, Andreea Bobu, Julie Shah, Pulkit Agrawal","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-03T18:59:55Z","title":"Aligning Robot and Human Representations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2302.01928","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":"sha256:3acbfb5793ca322fd2de483887b0dd50f12ec797bd463a636b1186304640a4fe","target":"record","created_at":"2026-07-05T07:38:25Z","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":"e43eb6e19c93d11a1ed094ed26c24acd9e10f0f49593bd85699c99faeeca279c","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-02-03T18:59:55Z","title_canon_sha256":"0f1811ee2476a02a6c5edc8f496e908e56e21485212ec160eb9b6710b58669e8"},"schema_version":"1.0","source":{"id":"2302.01928","kind":"arxiv","version":2}},"canonical_sha256":"6339817c63af6b0d309b97095ca21c875df1c2901dbb74a69d8e0ac5b3c8ec2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6339817c63af6b0d309b97095ca21c875df1c2901dbb74a69d8e0ac5b3c8ec2c","first_computed_at":"2026-07-05T07:38:25.867415Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:38:25.867415Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xodFhEsm/T18IavIRDME4gNJBmTufUxEiXym92NBPPou6od6kIpnoMF+5ocJKR1w6zM5by1FtTYtvCWS2lBNAw==","signature_status":"signed_v1","signed_at":"2026-07-05T07:38:25.867801Z","signed_message":"canonical_sha256_bytes"},"source_id":"2302.01928","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3acbfb5793ca322fd2de483887b0dd50f12ec797bd463a636b1186304640a4fe","sha256:7ff14cdf1d927e6d2fc93ef982cd765fa81c0c1aeddc6acddb299d482f956070"],"state_sha256":"6d9cfa760f9c8fa35f2603bd463c1a0cf6fb5aa3c9975d0c8268de16e642bfc4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UqD9Q+8nWWQIviDoic8fQvTh+aMGVvRhqlIUKhPhHHOzGXfiNkkbiv9KpY4xUXRMegIJIrD9pRyByu1/srn8CA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T10:39:34.087613Z","bundle_sha256":"52dc7c5c32377e049639fd077225ad00db33d696503073381f2af1bb5406575d"}}