{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:T7XP4FOA5ENQGDQHMAKFC42ZY5","short_pith_number":"pith:T7XP4FOA","canonical_record":{"source":{"id":"1805.07719","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-20T07:19:10Z","cross_cats_sorted":["cs.CL"],"title_canon_sha256":"bc37ee4c7612bab6ee170ab1979b9d9e4af49e4ffdd021c3429f86c999fbadc4","abstract_canon_sha256":"839abc8a3ac59188a1483f6cba07bf06e61515f48b2a48e880fbb77a2484a6ef"},"schema_version":"1.0"},"canonical_sha256":"9feefe15c0e91b030e076014517359c742cdfc1d2a567acfd20422c5566185e1","source":{"kind":"arxiv","id":"1805.07719","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07719","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07719v1","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07719","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"pith_short_12","alias_value":"T7XP4FOA5ENQ","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"T7XP4FOA5ENQGDQH","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"T7XP4FOA","created_at":"2026-05-18T12:32:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:T7XP4FOA5ENQGDQHMAKFC42ZY5","target":"record","payload":{"canonical_record":{"source":{"id":"1805.07719","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-20T07:19:10Z","cross_cats_sorted":["cs.CL"],"title_canon_sha256":"bc37ee4c7612bab6ee170ab1979b9d9e4af49e4ffdd021c3429f86c999fbadc4","abstract_canon_sha256":"839abc8a3ac59188a1483f6cba07bf06e61515f48b2a48e880fbb77a2484a6ef"},"schema_version":"1.0"},"canonical_sha256":"9feefe15c0e91b030e076014517359c742cdfc1d2a567acfd20422c5566185e1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:15:32.727455Z","signature_b64":"fHXPCniYQz5mMmz+sy78vtk8KyMzFmkgH58KafsPvuKlr7jSjC85dvvtIn6gvOZGCIZ2KZ4A+927+tqkI0BDCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9feefe15c0e91b030e076014517359c742cdfc1d2a567acfd20422c5566185e1","last_reissued_at":"2026-05-18T00:15:32.726889Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:15:32.726889Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1805.07719","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":"2026-05-18T00:15:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wAevlIS/saEWZJIHorSP7uOxq+hJyj9C2Fa+UdlSG4GqaA7UqvhwP7gl/vAfIdheM7rrYboQvHWa4TDyHGtGAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:20:49.747247Z"},"content_sha256":"709cdbdc99dc37f09ef93df981495ef61815d4256b2b65702e9db14cb3e5caef","schema_version":"1.0","event_id":"sha256:709cdbdc99dc37f09ef93df981495ef61815d4256b2b65702e9db14cb3e5caef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:T7XP4FOA5ENQGDQHMAKFC42ZY5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Balancing Shared Autonomy with Human-Robot Communication","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CL"],"primary_cat":"cs.RO","authors_text":"Daqing Yi, Maxwell Forbes, Rosario Scalise, Siddhartha Srinivasa, Yejin Choi, Yonatan Bisk","submitted_at":"2018-05-20T07:19:10Z","abstract_excerpt":"Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these gains are lost if communicating with a robot is taxing and unnatural. In this paper, we show how viewing humanrobot language through the lens of shared autonomy explains the efficiency versus cognitive load trade-offs humans make when deciding how cooperative and explicit to make their instructions."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07719","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":""},"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":"2026-05-18T00:15:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pF3bWafnfbjL5Ph4eGv4Me3/vMpJ6Ntb/lSh7N1jsSaMuLHZap7ttaF6X4JZV3PdYR72f4OCTbt/2I5zy0g9Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-28T06:20:49.747624Z"},"content_sha256":"cd98c2f36f70483328d86c0fcace79cc44c43762e0cbe7286da261a7cc5be2cb","schema_version":"1.0","event_id":"sha256:cd98c2f36f70483328d86c0fcace79cc44c43762e0cbe7286da261a7cc5be2cb"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/bundle.json","state_url":"https://pith.science/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/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":"2026-05-28T06:20:49Z","links":{"resolver":"https://pith.science/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5","bundle":"https://pith.science/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/bundle.json","state":"https://pith.science/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/T7XP4FOA5ENQGDQHMAKFC42ZY5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:T7XP4FOA5ENQGDQHMAKFC42ZY5","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":"839abc8a3ac59188a1483f6cba07bf06e61515f48b2a48e880fbb77a2484a6ef","cross_cats_sorted":["cs.CL"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-20T07:19:10Z","title_canon_sha256":"bc37ee4c7612bab6ee170ab1979b9d9e4af49e4ffdd021c3429f86c999fbadc4"},"schema_version":"1.0","source":{"id":"1805.07719","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1805.07719","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"arxiv_version","alias_value":"1805.07719v1","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1805.07719","created_at":"2026-05-18T00:15:32Z"},{"alias_kind":"pith_short_12","alias_value":"T7XP4FOA5ENQ","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_16","alias_value":"T7XP4FOA5ENQGDQH","created_at":"2026-05-18T12:32:53Z"},{"alias_kind":"pith_short_8","alias_value":"T7XP4FOA","created_at":"2026-05-18T12:32:53Z"}],"graph_snapshots":[{"event_id":"sha256:cd98c2f36f70483328d86c0fcace79cc44c43762e0cbe7286da261a7cc5be2cb","target":"graph","created_at":"2026-05-18T00:15:32Z","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"},"paper":{"abstract_excerpt":"Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these gains are lost if communicating with a robot is taxing and unnatural. In this paper, we show how viewing humanrobot language through the lens of shared autonomy explains the efficiency versus cognitive load trade-offs humans make when deciding how cooperative and explicit to make their instructions.","authors_text":"Daqing Yi, Maxwell Forbes, Rosario Scalise, Siddhartha Srinivasa, Yejin Choi, Yonatan Bisk","cross_cats":["cs.CL"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-20T07:19:10Z","title":"Balancing Shared Autonomy with Human-Robot Communication"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1805.07719","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":"sha256:709cdbdc99dc37f09ef93df981495ef61815d4256b2b65702e9db14cb3e5caef","target":"record","created_at":"2026-05-18T00:15:32Z","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":"839abc8a3ac59188a1483f6cba07bf06e61515f48b2a48e880fbb77a2484a6ef","cross_cats_sorted":["cs.CL"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-05-20T07:19:10Z","title_canon_sha256":"bc37ee4c7612bab6ee170ab1979b9d9e4af49e4ffdd021c3429f86c999fbadc4"},"schema_version":"1.0","source":{"id":"1805.07719","kind":"arxiv","version":1}},"canonical_sha256":"9feefe15c0e91b030e076014517359c742cdfc1d2a567acfd20422c5566185e1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9feefe15c0e91b030e076014517359c742cdfc1d2a567acfd20422c5566185e1","first_computed_at":"2026-05-18T00:15:32.726889Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:15:32.726889Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"fHXPCniYQz5mMmz+sy78vtk8KyMzFmkgH58KafsPvuKlr7jSjC85dvvtIn6gvOZGCIZ2KZ4A+927+tqkI0BDCQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:15:32.727455Z","signed_message":"canonical_sha256_bytes"},"source_id":"1805.07719","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:709cdbdc99dc37f09ef93df981495ef61815d4256b2b65702e9db14cb3e5caef","sha256:cd98c2f36f70483328d86c0fcace79cc44c43762e0cbe7286da261a7cc5be2cb"],"state_sha256":"a2940bc0932738aa623d968a8bcf5e360f6a714438edacde39af978ce88571d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8KQtQh+USew36XyLIFplNqnv1i/2aIGYuQpJj2b5WjfkbvPuKj7ra9up6wQ2IP35D8GNObtQFejlVjl+a+UwCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-28T06:20:49.749723Z","bundle_sha256":"643d94cc6af08bf349575bb33c50d75a68e6bae92ec613d3fdca5c6f0e45f490"}}