{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:WDN2RRT3Y3DWMFXVFAZU4MMDLV","short_pith_number":"pith:WDN2RRT3","canonical_record":{"source":{"id":"1212.2495","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-19T15:07:37Z","cross_cats_sorted":["cs.AI","cs.SY"],"title_canon_sha256":"faef8d696e70f06447fc77658218701dc1eae55c8cd2ecd1194282fc22f24905","abstract_canon_sha256":"014ea2cc58cd10ef1769a4722a663821c3c6b700d490d6f68ccbf74bf7dda57c"},"schema_version":"1.0"},"canonical_sha256":"b0dba8c67bc6c76616f528334e31835d6d001b980286bc56a9f91c25b3295998","source":{"kind":"arxiv","id":"1212.2495","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1212.2495","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"arxiv_version","alias_value":"1212.2495v1","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1212.2495","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"pith_short_12","alias_value":"WDN2RRT3Y3DW","created_at":"2026-05-18T12:27:25Z"},{"alias_kind":"pith_short_16","alias_value":"WDN2RRT3Y3DWMFXV","created_at":"2026-05-18T12:27:25Z"},{"alias_kind":"pith_short_8","alias_value":"WDN2RRT3","created_at":"2026-05-18T12:27:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:WDN2RRT3Y3DWMFXVFAZU4MMDLV","target":"record","payload":{"canonical_record":{"source":{"id":"1212.2495","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-19T15:07:37Z","cross_cats_sorted":["cs.AI","cs.SY"],"title_canon_sha256":"faef8d696e70f06447fc77658218701dc1eae55c8cd2ecd1194282fc22f24905","abstract_canon_sha256":"014ea2cc58cd10ef1769a4722a663821c3c6b700d490d6f68ccbf74bf7dda57c"},"schema_version":"1.0"},"canonical_sha256":"b0dba8c67bc6c76616f528334e31835d6d001b980286bc56a9f91c25b3295998","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:38:44.567464Z","signature_b64":"gaBdHZJ4AKfMLgmjCj9iIZJkbwueJkbl8GqJ+UFQqHi9/QO/cX4p1o1R7OYAKuT8Xi9lifM3MnkQZiWL7w7WBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b0dba8c67bc6c76616f528334e31835d6d001b980286bc56a9f91c25b3295998","last_reissued_at":"2026-05-18T03:38:44.566719Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:38:44.566719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1212.2495","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":"2026-05-18T03:38:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"hZOmdMkNemwBJH+9fp647xGV3FOiVbVRCRcQDQkAqK4oglr5PwaXXG9n2unAbuivURFOWMdLCpa02dFOjpuhDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T23:15:09.223200Z"},"content_sha256":"4bc15f0cc6f27af63c935578b9c012fe44e3a4b265f824b2cc1103882375e0e9","schema_version":"1.0","event_id":"sha256:4bc15f0cc6f27af63c935578b9c012fe44e3a4b265f824b2cc1103882375e0e9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:WDN2RRT3Y3DWMFXVFAZU4MMDLV","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Policy-contingent abstraction for robust robot control","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.SY"],"primary_cat":"cs.RO","authors_text":"Geoffrey Gordon, Joelle Pineau, Sebastian Thrun","submitted_at":"2012-10-19T15:07:37Z","abstract_excerpt":"This paper presents a scalable control algorithm that enables a deployed     mobile robot system to make high-level decisions under full consideration of     its probabilistic belief. Our approach is based on insights from the rich     literature of hierarchical controllers and hierarchical MDPs. The resulting     controller has been successfully deployed in a nursing facility near     Pittsburgh, PA. To the best of our knowledge, this work is a unique instance of     applying POMDPs to high-level robotic control problems."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1212.2495","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":"2026-05-18T03:38:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GsF0Pj/a65Llwd85MIadEIV3itj+mzxSpxs7uOUUXEmDJ5a1wjmeON21qsWoNHSJrpe7nLcv7slafAVVN8ogDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-30T23:15:09.224002Z"},"content_sha256":"5de1e5db6873325c93acaa70cead5d9f6f0907b45713d84b9a164a50f39c0a15","schema_version":"1.0","event_id":"sha256:5de1e5db6873325c93acaa70cead5d9f6f0907b45713d84b9a164a50f39c0a15"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/bundle.json","state_url":"https://pith.science/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/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":"2026-05-30T23:15:09Z","links":{"resolver":"https://pith.science/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV","bundle":"https://pith.science/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/bundle.json","state":"https://pith.science/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WDN2RRT3Y3DWMFXVFAZU4MMDLV/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:WDN2RRT3Y3DWMFXVFAZU4MMDLV","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":"014ea2cc58cd10ef1769a4722a663821c3c6b700d490d6f68ccbf74bf7dda57c","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-19T15:07:37Z","title_canon_sha256":"faef8d696e70f06447fc77658218701dc1eae55c8cd2ecd1194282fc22f24905"},"schema_version":"1.0","source":{"id":"1212.2495","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1212.2495","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"arxiv_version","alias_value":"1212.2495v1","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1212.2495","created_at":"2026-05-18T03:38:44Z"},{"alias_kind":"pith_short_12","alias_value":"WDN2RRT3Y3DW","created_at":"2026-05-18T12:27:25Z"},{"alias_kind":"pith_short_16","alias_value":"WDN2RRT3Y3DWMFXV","created_at":"2026-05-18T12:27:25Z"},{"alias_kind":"pith_short_8","alias_value":"WDN2RRT3","created_at":"2026-05-18T12:27:25Z"}],"graph_snapshots":[{"event_id":"sha256:5de1e5db6873325c93acaa70cead5d9f6f0907b45713d84b9a164a50f39c0a15","target":"graph","created_at":"2026-05-18T03:38:44Z","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":"This paper presents a scalable control algorithm that enables a deployed     mobile robot system to make high-level decisions under full consideration of     its probabilistic belief. Our approach is based on insights from the rich     literature of hierarchical controllers and hierarchical MDPs. The resulting     controller has been successfully deployed in a nursing facility near     Pittsburgh, PA. To the best of our knowledge, this work is a unique instance of     applying POMDPs to high-level robotic control problems.","authors_text":"Geoffrey Gordon, Joelle Pineau, Sebastian Thrun","cross_cats":["cs.AI","cs.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-19T15:07:37Z","title":"Policy-contingent abstraction for robust robot control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1212.2495","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":"sha256:4bc15f0cc6f27af63c935578b9c012fe44e3a4b265f824b2cc1103882375e0e9","target":"record","created_at":"2026-05-18T03:38:44Z","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":"014ea2cc58cd10ef1769a4722a663821c3c6b700d490d6f68ccbf74bf7dda57c","cross_cats_sorted":["cs.AI","cs.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-10-19T15:07:37Z","title_canon_sha256":"faef8d696e70f06447fc77658218701dc1eae55c8cd2ecd1194282fc22f24905"},"schema_version":"1.0","source":{"id":"1212.2495","kind":"arxiv","version":1}},"canonical_sha256":"b0dba8c67bc6c76616f528334e31835d6d001b980286bc56a9f91c25b3295998","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b0dba8c67bc6c76616f528334e31835d6d001b980286bc56a9f91c25b3295998","first_computed_at":"2026-05-18T03:38:44.566719Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:38:44.566719Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"gaBdHZJ4AKfMLgmjCj9iIZJkbwueJkbl8GqJ+UFQqHi9/QO/cX4p1o1R7OYAKuT8Xi9lifM3MnkQZiWL7w7WBw==","signature_status":"signed_v1","signed_at":"2026-05-18T03:38:44.567464Z","signed_message":"canonical_sha256_bytes"},"source_id":"1212.2495","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4bc15f0cc6f27af63c935578b9c012fe44e3a4b265f824b2cc1103882375e0e9","sha256:5de1e5db6873325c93acaa70cead5d9f6f0907b45713d84b9a164a50f39c0a15"],"state_sha256":"7056bf60f4a394d1dcde71d7eb70cc08b2861726f9bbe7aeff31e4d8663a33c8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"BS9yORytR4rPmulY0a3I9SPAdzVXas8xaIqA0NcoX9A9hRjCFK/VSXh1Aksab7Cdt4RDaI6+SuXYQxI3W52NAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-30T23:15:09.228580Z","bundle_sha256":"2469223cb2449c0a306ba1c1a34653612a098366fe755fb55031c03445b73b71"}}