{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:SIRQN4GOJAPSKSAUABNDLKTMJA","short_pith_number":"pith:SIRQN4GO","canonical_record":{"source":{"id":"2003.02232","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-04T18:19:05Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"0098221f6fb392b086c6df511e6e4297ab75da34bdc65eb5982b7c37f7a7fe8c","abstract_canon_sha256":"8ce4eed74250b243cc669d2add1125a67a3b57ceb323d52d5449f28279762038"},"schema_version":"1.0"},"canonical_sha256":"922306f0ce481f254814005a35aa6c4820108dbefb68896dbc514c06dacb3430","source":{"kind":"arxiv","id":"2003.02232","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.02232","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"arxiv_version","alias_value":"2003.02232v2","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.02232","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_12","alias_value":"SIRQN4GOJAPS","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_16","alias_value":"SIRQN4GOJAPSKSAU","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_8","alias_value":"SIRQN4GO","created_at":"2026-07-05T01:55:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:SIRQN4GOJAPSKSAUABNDLKTMJA","target":"record","payload":{"canonical_record":{"source":{"id":"2003.02232","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-04T18:19:05Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"0098221f6fb392b086c6df511e6e4297ab75da34bdc65eb5982b7c37f7a7fe8c","abstract_canon_sha256":"8ce4eed74250b243cc669d2add1125a67a3b57ceb323d52d5449f28279762038"},"schema_version":"1.0"},"canonical_sha256":"922306f0ce481f254814005a35aa6c4820108dbefb68896dbc514c06dacb3430","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T01:55:08.623682Z","signature_b64":"8daQvyzh2+9TLS9F6aCFvgAGoFehLUzLYCA/8ySj4IKlQTe2Ihepdc4nB+iKRc/jHu3sDFmkaG/ULYls0lBdDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"922306f0ce481f254814005a35aa6c4820108dbefb68896dbc514c06dacb3430","last_reissued_at":"2026-07-05T01:55:08.623099Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T01:55:08.623099Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2003.02232","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":"2026-07-05T01:55:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ssSVExCGMjNpHTc7aM9gv3eyzb4KtlGcOR6VojZtW51JSifRZypmeeHwDCl1optscm6B5C+ZZ+XTOKnReOapDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T05:48:13.131266Z"},"content_sha256":"4f719cc9456c41ecd995dfcb317330246f000e068b59b18fc470fbd5d6c9829c","schema_version":"1.0","event_id":"sha256:4f719cc9456c41ecd995dfcb317330246f000e068b59b18fc470fbd5d6c9829c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:SIRQN4GOJAPSKSAUABNDLKTMJA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Interactive Robot Training for Non-Markov Tasks","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Ankit Shah, Julie Shah, Samir Wadhwania","submitted_at":"2020-03-04T18:19:05Z","abstract_excerpt":"Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian interactive robot training framework that allows the robot to learn from both demonstrations provided by a teacher, and that teacher's assessments of the robot's task executions. We also present an active learning approach -- inspired by uncertainty sampling -- to identify the task execution with the most uncertain degree of acceptability. Through a simulate"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.02232","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/2003.02232/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":"2026-07-05T01:55:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"YuCvz8oyx+/XS6yeCawg0CR/cyxUhIDIGReHefsrSxz1XjA17TuwMGEAJNVRqHChFBS0aleX3uI6RBTboIm5Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T05:48:13.132174Z"},"content_sha256":"3cedaf36031c2fdf85088933fb5f0c05eff243f012c685b65786a024cf1d9519","schema_version":"1.0","event_id":"sha256:3cedaf36031c2fdf85088933fb5f0c05eff243f012c685b65786a024cf1d9519"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/bundle.json","state_url":"https://pith.science/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/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":"2026-08-07T05:48:13Z","links":{"resolver":"https://pith.science/pith/SIRQN4GOJAPSKSAUABNDLKTMJA","bundle":"https://pith.science/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/bundle.json","state":"https://pith.science/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SIRQN4GOJAPSKSAUABNDLKTMJA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:SIRQN4GOJAPSKSAUABNDLKTMJA","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":"8ce4eed74250b243cc669d2add1125a67a3b57ceb323d52d5449f28279762038","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-04T18:19:05Z","title_canon_sha256":"0098221f6fb392b086c6df511e6e4297ab75da34bdc65eb5982b7c37f7a7fe8c"},"schema_version":"1.0","source":{"id":"2003.02232","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2003.02232","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"arxiv_version","alias_value":"2003.02232v2","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2003.02232","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_12","alias_value":"SIRQN4GOJAPS","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_16","alias_value":"SIRQN4GOJAPSKSAU","created_at":"2026-07-05T01:55:08Z"},{"alias_kind":"pith_short_8","alias_value":"SIRQN4GO","created_at":"2026-07-05T01:55:08Z"}],"graph_snapshots":[{"event_id":"sha256:3cedaf36031c2fdf85088933fb5f0c05eff243f012c685b65786a024cf1d9519","target":"graph","created_at":"2026-07-05T01:55:08Z","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/2003.02232/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Defining sound and complete specifications for robots using formal languages is challenging, while learning formal specifications directly from demonstrations can lead to over-constrained task policies. In this paper, we propose a Bayesian interactive robot training framework that allows the robot to learn from both demonstrations provided by a teacher, and that teacher's assessments of the robot's task executions. We also present an active learning approach -- inspired by uncertainty sampling -- to identify the task execution with the most uncertain degree of acceptability. Through a simulate","authors_text":"Ankit Shah, Julie Shah, Samir Wadhwania","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-04T18:19:05Z","title":"Interactive Robot Training for Non-Markov Tasks"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2003.02232","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":"sha256:4f719cc9456c41ecd995dfcb317330246f000e068b59b18fc470fbd5d6c9829c","target":"record","created_at":"2026-07-05T01:55:08Z","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":"8ce4eed74250b243cc669d2add1125a67a3b57ceb323d52d5449f28279762038","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2020-03-04T18:19:05Z","title_canon_sha256":"0098221f6fb392b086c6df511e6e4297ab75da34bdc65eb5982b7c37f7a7fe8c"},"schema_version":"1.0","source":{"id":"2003.02232","kind":"arxiv","version":2}},"canonical_sha256":"922306f0ce481f254814005a35aa6c4820108dbefb68896dbc514c06dacb3430","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"922306f0ce481f254814005a35aa6c4820108dbefb68896dbc514c06dacb3430","first_computed_at":"2026-07-05T01:55:08.623099Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T01:55:08.623099Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8daQvyzh2+9TLS9F6aCFvgAGoFehLUzLYCA/8ySj4IKlQTe2Ihepdc4nB+iKRc/jHu3sDFmkaG/ULYls0lBdDA==","signature_status":"signed_v1","signed_at":"2026-07-05T01:55:08.623682Z","signed_message":"canonical_sha256_bytes"},"source_id":"2003.02232","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4f719cc9456c41ecd995dfcb317330246f000e068b59b18fc470fbd5d6c9829c","sha256:3cedaf36031c2fdf85088933fb5f0c05eff243f012c685b65786a024cf1d9519"],"state_sha256":"ae8820323329e7cd2532377ccd2161e6ae988e6e79a3fabd4aff51a57097c4e2"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5D2+rhdNzE8PtDPP8ST3Qykbt6p5IXyGqaGS3G0JKGOPMJ2m1G4hYv3Zc3uhocYCAHP+84c8sj4pk39uZ9t2DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T05:48:13.137498Z","bundle_sha256":"8453d183de46885de856c4ca9bef638f9a92875d6910886d2c39ffa163862325"}}