{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:UJVNW2ZV23YNG22VHYV4LPXYIE","short_pith_number":"pith:UJVNW2ZV","canonical_record":{"source":{"id":"2303.05177","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-09T11:13:15Z","cross_cats_sorted":[],"title_canon_sha256":"62aeed01894ce345b748160387ca3ae4c8b166fa516ec91c4d67f93b1977f473","abstract_canon_sha256":"6fa5d3bd84e78cb262359e0cbd4510925a1d370ff252e80dccd3a946c69382ab"},"schema_version":"1.0"},"canonical_sha256":"a26adb6b35d6f0d36b553e2bc5bef84109a13fdf141a74c2137256d04a0e3748","source":{"kind":"arxiv","id":"2303.05177","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.05177","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"arxiv_version","alias_value":"2303.05177v2","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.05177","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_12","alias_value":"UJVNW2ZV23YN","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_16","alias_value":"UJVNW2ZV23YNG22V","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_8","alias_value":"UJVNW2ZV","created_at":"2026-07-05T05:52:27Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:UJVNW2ZV23YNG22VHYV4LPXYIE","target":"record","payload":{"canonical_record":{"source":{"id":"2303.05177","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-09T11:13:15Z","cross_cats_sorted":[],"title_canon_sha256":"62aeed01894ce345b748160387ca3ae4c8b166fa516ec91c4d67f93b1977f473","abstract_canon_sha256":"6fa5d3bd84e78cb262359e0cbd4510925a1d370ff252e80dccd3a946c69382ab"},"schema_version":"1.0"},"canonical_sha256":"a26adb6b35d6f0d36b553e2bc5bef84109a13fdf141a74c2137256d04a0e3748","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:52:27.753037Z","signature_b64":"yKu6ltGgaG15ARUjFOdLQCzZ7j0rbnGbXusyBfAk/KCYAaQ0P47C5LAqCXVdIwagogDDZbkaw772WQF+E0dFBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a26adb6b35d6f0d36b553e2bc5bef84109a13fdf141a74c2137256d04a0e3748","last_reissued_at":"2026-07-05T05:52:27.752539Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:52:27.752539Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2303.05177","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":"2026-07-05T05:52:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GRvOd9G2QoPj41Uf3OX2ht16GVr3G7+gjpQLZNTpC5ntaqATwdtGt9GBrWswXz4wEs5+ukp/XTaCRSeSRYy8Cg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T21:18:56.204092Z"},"content_sha256":"4e4c06a3243ba6127f29acbf483116922e576c9d529d4d4307353faa1f2e667b","schema_version":"1.0","event_id":"sha256:4e4c06a3243ba6127f29acbf483116922e576c9d529d4d4307353faa1f2e667b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:UJVNW2ZV23YNG22VHYV4LPXYIE","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Assistive Robot Teleoperation Using Behavior Trees","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Brecher, Gerhard Lakemeyer, Minh Trinh, Mohamed Behery","submitted_at":"2023-03-09T11:13:15Z","abstract_excerpt":"Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into cons"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.05177","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/2303.05177/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":"2026-07-05T05:52:27Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"D+9+FsFskeYtgQWSQ6mJWGH9T8oNaiwm1PBPqB9LNn6L6JNQFFjyHIczojhI+Gi+4r60bi3F38/lhcGt4SaxDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-19T21:18:56.204592Z"},"content_sha256":"fa923ced59da8c470ce7167858c60d28d9f4f92d3648327c4921e2a46a42362a","schema_version":"1.0","event_id":"sha256:fa923ced59da8c470ce7167858c60d28d9f4f92d3648327c4921e2a46a42362a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/bundle.json","state_url":"https://pith.science/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/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":"2026-08-19T21:18:56Z","links":{"resolver":"https://pith.science/pith/UJVNW2ZV23YNG22VHYV4LPXYIE","bundle":"https://pith.science/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/bundle.json","state":"https://pith.science/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/state.json","well_known_bundle":"https://pith.science/.well-known/pith/UJVNW2ZV23YNG22VHYV4LPXYIE/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:UJVNW2ZV23YNG22VHYV4LPXYIE","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":"6fa5d3bd84e78cb262359e0cbd4510925a1d370ff252e80dccd3a946c69382ab","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-09T11:13:15Z","title_canon_sha256":"62aeed01894ce345b748160387ca3ae4c8b166fa516ec91c4d67f93b1977f473"},"schema_version":"1.0","source":{"id":"2303.05177","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2303.05177","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"arxiv_version","alias_value":"2303.05177v2","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2303.05177","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_12","alias_value":"UJVNW2ZV23YN","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_16","alias_value":"UJVNW2ZV23YNG22V","created_at":"2026-07-05T05:52:27Z"},{"alias_kind":"pith_short_8","alias_value":"UJVNW2ZV","created_at":"2026-07-05T05:52:27Z"}],"graph_snapshots":[{"event_id":"sha256:fa923ced59da8c470ce7167858c60d28d9f4f92d3648327c4921e2a46a42362a","target":"graph","created_at":"2026-07-05T05:52:27Z","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/2303.05177/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environment. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface (BCI)) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoids obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into cons","authors_text":"Christian Brecher, Gerhard Lakemeyer, Minh Trinh, Mohamed Behery","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-09T11:13:15Z","title":"Assistive Robot Teleoperation Using Behavior Trees"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2303.05177","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":"sha256:4e4c06a3243ba6127f29acbf483116922e576c9d529d4d4307353faa1f2e667b","target":"record","created_at":"2026-07-05T05:52:27Z","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":"6fa5d3bd84e78cb262359e0cbd4510925a1d370ff252e80dccd3a946c69382ab","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2023-03-09T11:13:15Z","title_canon_sha256":"62aeed01894ce345b748160387ca3ae4c8b166fa516ec91c4d67f93b1977f473"},"schema_version":"1.0","source":{"id":"2303.05177","kind":"arxiv","version":2}},"canonical_sha256":"a26adb6b35d6f0d36b553e2bc5bef84109a13fdf141a74c2137256d04a0e3748","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a26adb6b35d6f0d36b553e2bc5bef84109a13fdf141a74c2137256d04a0e3748","first_computed_at":"2026-07-05T05:52:27.752539Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:52:27.752539Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"yKu6ltGgaG15ARUjFOdLQCzZ7j0rbnGbXusyBfAk/KCYAaQ0P47C5LAqCXVdIwagogDDZbkaw772WQF+E0dFBg==","signature_status":"signed_v1","signed_at":"2026-07-05T05:52:27.753037Z","signed_message":"canonical_sha256_bytes"},"source_id":"2303.05177","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4e4c06a3243ba6127f29acbf483116922e576c9d529d4d4307353faa1f2e667b","sha256:fa923ced59da8c470ce7167858c60d28d9f4f92d3648327c4921e2a46a42362a"],"state_sha256":"e7d1eaff8b86e225a6881b8fc13238430d38ba309a6a3e7fc0e3837d3bf49bec"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ku0Vrt1ybl0tfoH2ZoAAY1aAGOfHoPrBLHBI0gx4mek/6GuOZMBnh+HEJfjhukbSSmAsOJiKhWfi0PoI6dcFCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-19T21:18:56.210014Z","bundle_sha256":"38b508a0c5008f1742244ff8a05dbddb1d29c94f0ff2de9fd5df7762c98ed1c3"}}