{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:QTYNJP4YXSCIWN3QDLV6WH5TOF","short_pith_number":"pith:QTYNJP4Y","canonical_record":{"source":{"id":"2502.09395","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-13T15:16:52Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"73d44346c2e72b4f3f9d214569c6dde8b426a102097c34ed648a20ff2f46b9e6","abstract_canon_sha256":"453bb4154ec95aea16e520b58b84025fe5f1be6eaf6e979299a655ed361acb64"},"schema_version":"1.0"},"canonical_sha256":"84f0d4bf98bc848b37701aebeb1fb37161aa53a0d604b289022aa6456e635815","source":{"kind":"arxiv","id":"2502.09395","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.09395","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"arxiv_version","alias_value":"2502.09395v3","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.09395","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_12","alias_value":"QTYNJP4YXSCI","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_16","alias_value":"QTYNJP4YXSCIWN3Q","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_8","alias_value":"QTYNJP4Y","created_at":"2026-07-05T11:35:12Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:QTYNJP4YXSCIWN3QDLV6WH5TOF","target":"record","payload":{"canonical_record":{"source":{"id":"2502.09395","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-13T15:16:52Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"73d44346c2e72b4f3f9d214569c6dde8b426a102097c34ed648a20ff2f46b9e6","abstract_canon_sha256":"453bb4154ec95aea16e520b58b84025fe5f1be6eaf6e979299a655ed361acb64"},"schema_version":"1.0"},"canonical_sha256":"84f0d4bf98bc848b37701aebeb1fb37161aa53a0d604b289022aa6456e635815","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:35:12.120980Z","signature_b64":"GGJzteDjjw21OLB9HBmlCGN9cCrA7TOQgygh7LApc1XGFs8Lw3uUV/LNiu6C4bUDPLNn4ZRRRkYm7f6HmLi3Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"84f0d4bf98bc848b37701aebeb1fb37161aa53a0d604b289022aa6456e635815","last_reissued_at":"2026-07-05T11:35:12.120494Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:35:12.120494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.09395","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:35:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vHbD+EJkI3FtlDL1AuKc5oUw3VY216NB0KaNE0lnOwWbLC7VtuTA5F89roKPGDwGApA593unsrw5nxdTQlV3Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T08:02:41.109819Z"},"content_sha256":"ca2202c5f4943e9fb6fb1e8ebbcee0748d8badabf795acc51b8bab9469caca7f","schema_version":"1.0","event_id":"sha256:ca2202c5f4943e9fb6fb1e8ebbcee0748d8badabf795acc51b8bab9469caca7f"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:QTYNJP4YXSCIWN3QDLV6WH5TOF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Robot Pouring: Identifying Causes of Spillage and Selecting Alternative Action Parameters Using Probabilistic Actual Causation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Christoph Zetzsche, Jaime Maldonado, Jonas Krumme, Kerstin Schill, Vanessa Didelez","submitted_at":"2025-02-13T15:16:52Z","abstract_excerpt":"In everyday life, we perform tasks (e.g., cooking or cleaning) that involve a large variety of objects and goals. When confronted with an unexpected or unwanted outcome, we take corrective actions and try again until achieving the desired result. The reasoning performed to identify a cause of the observed outcome and to select an appropriate corrective action is a crucial aspect of human reasoning for successful task execution. Central to this reasoning is the assumption that a factor is responsible for producing the observed outcome. In this paper, we investigate the use of probabilistic actu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.09395","kind":"arxiv","version":3},"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/2502.09395/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":"2026-07-05T11:35:12Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9bUJsgkHnsEYgitLkk/VSYFgodim2VqdlvzFvZRJXcgSKv5EW3ADl2ix+j9r5JvQM5H/juKzy/NIK3Ku1z3UAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-10T08:02:41.110348Z"},"content_sha256":"c6771dcfef16bd267995a506ac1dfe16b1284a2206ceda109a92571989abfe5a","schema_version":"1.0","event_id":"sha256:c6771dcfef16bd267995a506ac1dfe16b1284a2206ceda109a92571989abfe5a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/bundle.json","state_url":"https://pith.science/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/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":"2026-08-10T08:02:41Z","links":{"resolver":"https://pith.science/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF","bundle":"https://pith.science/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/bundle.json","state":"https://pith.science/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QTYNJP4YXSCIWN3QDLV6WH5TOF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:QTYNJP4YXSCIWN3QDLV6WH5TOF","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":"453bb4154ec95aea16e520b58b84025fe5f1be6eaf6e979299a655ed361acb64","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-13T15:16:52Z","title_canon_sha256":"73d44346c2e72b4f3f9d214569c6dde8b426a102097c34ed648a20ff2f46b9e6"},"schema_version":"1.0","source":{"id":"2502.09395","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.09395","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"arxiv_version","alias_value":"2502.09395v3","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.09395","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_12","alias_value":"QTYNJP4YXSCI","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_16","alias_value":"QTYNJP4YXSCIWN3Q","created_at":"2026-07-05T11:35:12Z"},{"alias_kind":"pith_short_8","alias_value":"QTYNJP4Y","created_at":"2026-07-05T11:35:12Z"}],"graph_snapshots":[{"event_id":"sha256:c6771dcfef16bd267995a506ac1dfe16b1284a2206ceda109a92571989abfe5a","target":"graph","created_at":"2026-07-05T11:35:12Z","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/2502.09395/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In everyday life, we perform tasks (e.g., cooking or cleaning) that involve a large variety of objects and goals. When confronted with an unexpected or unwanted outcome, we take corrective actions and try again until achieving the desired result. The reasoning performed to identify a cause of the observed outcome and to select an appropriate corrective action is a crucial aspect of human reasoning for successful task execution. Central to this reasoning is the assumption that a factor is responsible for producing the observed outcome. In this paper, we investigate the use of probabilistic actu","authors_text":"Christoph Zetzsche, Jaime Maldonado, Jonas Krumme, Kerstin Schill, Vanessa Didelez","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-13T15:16:52Z","title":"Robot Pouring: Identifying Causes of Spillage and Selecting Alternative Action Parameters Using Probabilistic Actual Causation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.09395","kind":"arxiv","version":3},"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:ca2202c5f4943e9fb6fb1e8ebbcee0748d8badabf795acc51b8bab9469caca7f","target":"record","created_at":"2026-07-05T11:35:12Z","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":"453bb4154ec95aea16e520b58b84025fe5f1be6eaf6e979299a655ed361acb64","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-13T15:16:52Z","title_canon_sha256":"73d44346c2e72b4f3f9d214569c6dde8b426a102097c34ed648a20ff2f46b9e6"},"schema_version":"1.0","source":{"id":"2502.09395","kind":"arxiv","version":3}},"canonical_sha256":"84f0d4bf98bc848b37701aebeb1fb37161aa53a0d604b289022aa6456e635815","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"84f0d4bf98bc848b37701aebeb1fb37161aa53a0d604b289022aa6456e635815","first_computed_at":"2026-07-05T11:35:12.120494Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:35:12.120494Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GGJzteDjjw21OLB9HBmlCGN9cCrA7TOQgygh7LApc1XGFs8Lw3uUV/LNiu6C4bUDPLNn4ZRRRkYm7f6HmLi3Dw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:35:12.120980Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.09395","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ca2202c5f4943e9fb6fb1e8ebbcee0748d8badabf795acc51b8bab9469caca7f","sha256:c6771dcfef16bd267995a506ac1dfe16b1284a2206ceda109a92571989abfe5a"],"state_sha256":"8d3cc3f22d89a01213fa0295280a3c0f56f9e864aab7805ffeb7b38038b824ef"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"39/tok+hZR8nHjdhkfaxpVgyCqQtRGYS/BhCC3sAfBK85ig5wBLnGNlj5pJsOaUtg2l7ruei+f1eSciCQPoACg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-10T08:02:41.114025Z","bundle_sha256":"667ef67e7c8ad6828d31785cb22cd9c3619c9f765f1e3057d40d27be7f0b4a50"}}