{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:SZQU5EIZCVGYHRV4RTO7CUECEK","short_pith_number":"pith:SZQU5EIZ","canonical_record":{"source":{"id":"2406.18019","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-26T02:13:02Z","cross_cats_sorted":[],"title_canon_sha256":"bb27c153d41a9a6e114d2c68a4e691dd7f793de45788b7fd0ab4ff0f0db42e14","abstract_canon_sha256":"1490770de26d506675fbcc965ef0b82569ea7a5818afe6b1665bea0fa54c5018"},"schema_version":"1.0"},"canonical_sha256":"96614e9119154d83c6bc8cddf1508222af6fe2abcd190035b96446a66fb45f59","source":{"kind":"arxiv","id":"2406.18019","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.18019","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"arxiv_version","alias_value":"2406.18019v1","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.18019","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_12","alias_value":"SZQU5EIZCVGY","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_16","alias_value":"SZQU5EIZCVGYHRV4","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_8","alias_value":"SZQU5EIZ","created_at":"2026-07-05T08:36:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:SZQU5EIZCVGYHRV4RTO7CUECEK","target":"record","payload":{"canonical_record":{"source":{"id":"2406.18019","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-26T02:13:02Z","cross_cats_sorted":[],"title_canon_sha256":"bb27c153d41a9a6e114d2c68a4e691dd7f793de45788b7fd0ab4ff0f0db42e14","abstract_canon_sha256":"1490770de26d506675fbcc965ef0b82569ea7a5818afe6b1665bea0fa54c5018"},"schema_version":"1.0"},"canonical_sha256":"96614e9119154d83c6bc8cddf1508222af6fe2abcd190035b96446a66fb45f59","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:36:53.789940Z","signature_b64":"HzjFCg+Y4OOIEiVHnEd0RVJBL+xgeO96i5lYKzNQklQZYqX2MGvn3hbqQm3B/3YKFlH8u8BbZ8iwbkNUjAn8Dw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"96614e9119154d83c6bc8cddf1508222af6fe2abcd190035b96446a66fb45f59","last_reissued_at":"2026-07-05T08:36:53.789514Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:36:53.789514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.18019","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":"2026-07-05T08:36:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X1Hqyv1dCBUDBiPaKzSXmv7HOuo+8mcwORLH7d8DA2zklVbZGJ4LP7mEQwVBKmVXv6dk/tywUwhmaM9ckRWmDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:13:33.537484Z"},"content_sha256":"ecf2e4c4b275de3cb0eb78097b2198b693166594376fe83d9eb4a90c3d819afb","schema_version":"1.0","event_id":"sha256:ecf2e4c4b275de3cb0eb78097b2198b693166594376fe83d9eb4a90c3d819afb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:SZQU5EIZCVGYHRV4RTO7CUECEK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Amy Fang, Hadas Kress-Gazit, Jiawei Lin, Tenny Yin","submitted_at":"2024-06-26T02:13:02Z","abstract_excerpt":"We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\\psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.18019","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/2406.18019/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":"2026-07-05T08:36:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"kBWNJYQEt8XV7L6pOGI6rYUD5oFtotmA1o3vBQaOXoDrRCC9TrLYHXpnatSO1t/F4j2qL2iKyuyDSKBPqkXCBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T13:13:33.538366Z"},"content_sha256":"5258ce164e3649c23e7aaf60381f8df382aaa64c9500007f133840662f8f3f30","schema_version":"1.0","event_id":"sha256:5258ce164e3649c23e7aaf60381f8df382aaa64c9500007f133840662f8f3f30"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/bundle.json","state_url":"https://pith.science/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/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":"2026-08-08T13:13:33Z","links":{"resolver":"https://pith.science/pith/SZQU5EIZCVGYHRV4RTO7CUECEK","bundle":"https://pith.science/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/bundle.json","state":"https://pith.science/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/SZQU5EIZCVGYHRV4RTO7CUECEK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:SZQU5EIZCVGYHRV4RTO7CUECEK","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":"1490770de26d506675fbcc965ef0b82569ea7a5818afe6b1665bea0fa54c5018","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-26T02:13:02Z","title_canon_sha256":"bb27c153d41a9a6e114d2c68a4e691dd7f793de45788b7fd0ab4ff0f0db42e14"},"schema_version":"1.0","source":{"id":"2406.18019","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.18019","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"arxiv_version","alias_value":"2406.18019v1","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.18019","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_12","alias_value":"SZQU5EIZCVGY","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_16","alias_value":"SZQU5EIZCVGYHRV4","created_at":"2026-07-05T08:36:53Z"},{"alias_kind":"pith_short_8","alias_value":"SZQU5EIZ","created_at":"2026-07-05T08:36:53Z"}],"graph_snapshots":[{"event_id":"sha256:5258ce164e3649c23e7aaf60381f8df382aaa64c9500007f133840662f8f3f30","target":"graph","created_at":"2026-07-05T08:36:53Z","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/2406.18019/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\\psi, which uses the concept of bindings to interleave robot actions and express information about relationship between specific task requirements and robot assignments. We present a synthesis approach to automatically generate a teaming assignment and corresponding discrete behavior that is correct-by-construction for continuous execution, while also implementing synchronization","authors_text":"Amy Fang, Hadas Kress-Gazit, Jiawei Lin, Tenny Yin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-26T02:13:02Z","title":"Continuous Execution of High-Level Collaborative Tasks for Heterogeneous Robot Teams"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.18019","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:ecf2e4c4b275de3cb0eb78097b2198b693166594376fe83d9eb4a90c3d819afb","target":"record","created_at":"2026-07-05T08:36:53Z","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":"1490770de26d506675fbcc965ef0b82569ea7a5818afe6b1665bea0fa54c5018","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-26T02:13:02Z","title_canon_sha256":"bb27c153d41a9a6e114d2c68a4e691dd7f793de45788b7fd0ab4ff0f0db42e14"},"schema_version":"1.0","source":{"id":"2406.18019","kind":"arxiv","version":1}},"canonical_sha256":"96614e9119154d83c6bc8cddf1508222af6fe2abcd190035b96446a66fb45f59","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"96614e9119154d83c6bc8cddf1508222af6fe2abcd190035b96446a66fb45f59","first_computed_at":"2026-07-05T08:36:53.789514Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:36:53.789514Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"HzjFCg+Y4OOIEiVHnEd0RVJBL+xgeO96i5lYKzNQklQZYqX2MGvn3hbqQm3B/3YKFlH8u8BbZ8iwbkNUjAn8Dw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:36:53.789940Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.18019","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ecf2e4c4b275de3cb0eb78097b2198b693166594376fe83d9eb4a90c3d819afb","sha256:5258ce164e3649c23e7aaf60381f8df382aaa64c9500007f133840662f8f3f30"],"state_sha256":"431f030da63dec2b13a8f9092b484c7f69f0611790c6f579dad12de74daff704"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eLyD1xH078LCSeAUEXRQ2rsGWSpdg/7OintAuMt/A/zTONeTArktTcE+dfXdr5WGqREy+5YOClbkdYpBpQO8DQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T13:13:33.546040Z","bundle_sha256":"26200c00213e1975704c1d0d3db366da93dc49d34a01ca2d46d9ffc1501c3b3b"}}