{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WE4VUHXOYJG3MVT2ACPYMGPC5Z","short_pith_number":"pith:WE4VUHXO","canonical_record":{"source":{"id":"2404.05134","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T01:25:38Z","cross_cats_sorted":[],"title_canon_sha256":"7cdc89626a4a8cc54c9a842dbf5f604300cf170c97f0ac27fae805f09707e767","abstract_canon_sha256":"11c32e03f0f423c470da639f917078c09340ff4523298f7376692583568b7073"},"schema_version":"1.0"},"canonical_sha256":"b1395a1eeec24db6567a009f8619e2ee7886d679cdbb2fe7c1313e844ba7e21e","source":{"kind":"arxiv","id":"2404.05134","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.05134","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"arxiv_version","alias_value":"2404.05134v1","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.05134","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_12","alias_value":"WE4VUHXOYJG3","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_16","alias_value":"WE4VUHXOYJG3MVT2","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_8","alias_value":"WE4VUHXO","created_at":"2026-07-05T08:56:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WE4VUHXOYJG3MVT2ACPYMGPC5Z","target":"record","payload":{"canonical_record":{"source":{"id":"2404.05134","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T01:25:38Z","cross_cats_sorted":[],"title_canon_sha256":"7cdc89626a4a8cc54c9a842dbf5f604300cf170c97f0ac27fae805f09707e767","abstract_canon_sha256":"11c32e03f0f423c470da639f917078c09340ff4523298f7376692583568b7073"},"schema_version":"1.0"},"canonical_sha256":"b1395a1eeec24db6567a009f8619e2ee7886d679cdbb2fe7c1313e844ba7e21e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:56:18.590251Z","signature_b64":"Xgxa6JKkU0/CmScXmoZRBe+hWnjC9rXvKMAydiuOxoJt2IAw4rszWYJVZhOYoEeSQ4N2SLT8DMbXCK/rWXa2Cw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1395a1eeec24db6567a009f8619e2ee7886d679cdbb2fe7c1313e844ba7e21e","last_reissued_at":"2026-07-05T08:56:18.589838Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:56:18.589838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2404.05134","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":"2026-07-05T08:56:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lcjK1yo7sJR5FtqXC16bGJvmhDbrf8jpfTI+b/TNwnioay96XP2SE56UrtSQpOYf/mJH0HRL/Qi7tNbrH3ucAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:53:46.317983Z"},"content_sha256":"83142775082ca1afae8ab301a8c5180e59e03205d39aafbb1660171364f85c68","schema_version":"1.0","event_id":"sha256:83142775082ca1afae8ab301a8c5180e59e03205d39aafbb1660171364f85c68"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WE4VUHXOYJG3MVT2ACPYMGPC5Z","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haotian Zhou, Huasong Min, Jihong Zhu, Longwu Yan, Yunhan Lin","submitted_at":"2024-04-08T01:25:38Z","abstract_excerpt":"Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks based on LLMs and Behavior Trees (BTs). It utilizes ChatGPT to reason the descriptive steps of tasks. In order to enable ChatGPT to understand the environment, semantic maps are constructed by an object recognition algorithm. Then, we design a Parser module based on Bidirectional Encoder Representations from Transformers (BERT) to parse these steps into initi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.05134","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/2404.05134/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":"2026-07-05T08:56:18Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FmN9Z5Bjmq2GJsIxzugQtJnGChGxS5OLFAjwXMwxkwMGRrI3iweou840JCPR0Bn4a1m150uu78gTjPeOpIYaAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-08T17:53:46.318504Z"},"content_sha256":"0e8981a1776a37ee769065cc659b71845b81e285b8b90e4f6e63165b8ef46d8b","schema_version":"1.0","event_id":"sha256:0e8981a1776a37ee769065cc659b71845b81e285b8b90e4f6e63165b8ef46d8b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/bundle.json","state_url":"https://pith.science/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/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":"2026-08-08T17:53:46Z","links":{"resolver":"https://pith.science/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z","bundle":"https://pith.science/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/bundle.json","state":"https://pith.science/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WE4VUHXOYJG3MVT2ACPYMGPC5Z/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WE4VUHXOYJG3MVT2ACPYMGPC5Z","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":"11c32e03f0f423c470da639f917078c09340ff4523298f7376692583568b7073","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T01:25:38Z","title_canon_sha256":"7cdc89626a4a8cc54c9a842dbf5f604300cf170c97f0ac27fae805f09707e767"},"schema_version":"1.0","source":{"id":"2404.05134","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2404.05134","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"arxiv_version","alias_value":"2404.05134v1","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2404.05134","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_12","alias_value":"WE4VUHXOYJG3","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_16","alias_value":"WE4VUHXOYJG3MVT2","created_at":"2026-07-05T08:56:18Z"},{"alias_kind":"pith_short_8","alias_value":"WE4VUHXO","created_at":"2026-07-05T08:56:18Z"}],"graph_snapshots":[{"event_id":"sha256:0e8981a1776a37ee769065cc659b71845b81e285b8b90e4f6e63165b8ef46d8b","target":"graph","created_at":"2026-07-05T08:56:18Z","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/2404.05134/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large Language Models (LLMs) have been widely utilized to perform complex robotic tasks. However, handling external disturbances during tasks is still an open challenge. This paper proposes a novel method to achieve robotic adaptive tasks based on LLMs and Behavior Trees (BTs). It utilizes ChatGPT to reason the descriptive steps of tasks. In order to enable ChatGPT to understand the environment, semantic maps are constructed by an object recognition algorithm. Then, we design a Parser module based on Bidirectional Encoder Representations from Transformers (BERT) to parse these steps into initi","authors_text":"Haotian Zhou, Huasong Min, Jihong Zhu, Longwu Yan, Yunhan Lin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T01:25:38Z","title":"LLM-BT: Performing Robotic Adaptive Tasks based on Large Language Models and Behavior Trees"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2404.05134","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":"sha256:83142775082ca1afae8ab301a8c5180e59e03205d39aafbb1660171364f85c68","target":"record","created_at":"2026-07-05T08:56:18Z","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":"11c32e03f0f423c470da639f917078c09340ff4523298f7376692583568b7073","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-04-08T01:25:38Z","title_canon_sha256":"7cdc89626a4a8cc54c9a842dbf5f604300cf170c97f0ac27fae805f09707e767"},"schema_version":"1.0","source":{"id":"2404.05134","kind":"arxiv","version":1}},"canonical_sha256":"b1395a1eeec24db6567a009f8619e2ee7886d679cdbb2fe7c1313e844ba7e21e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1395a1eeec24db6567a009f8619e2ee7886d679cdbb2fe7c1313e844ba7e21e","first_computed_at":"2026-07-05T08:56:18.589838Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:56:18.589838Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Xgxa6JKkU0/CmScXmoZRBe+hWnjC9rXvKMAydiuOxoJt2IAw4rszWYJVZhOYoEeSQ4N2SLT8DMbXCK/rWXa2Cw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:56:18.590251Z","signed_message":"canonical_sha256_bytes"},"source_id":"2404.05134","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:83142775082ca1afae8ab301a8c5180e59e03205d39aafbb1660171364f85c68","sha256:0e8981a1776a37ee769065cc659b71845b81e285b8b90e4f6e63165b8ef46d8b"],"state_sha256":"7c191c1f5e3ac54631352bd295df8757b053e09244829b3cb5e1df4bb4c7b9ca"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"IzPQzV4Nv/v90434WuvZtTFJguNz9OCCFf89j0kqbV1kqZkjjmsHfVVxYn1mpsQMw/XZBPlwyzUYvAaV8PgSAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-08T17:53:46.322801Z","bundle_sha256":"9e4c4fd5dfaf63e77d3faa82e736868bf4ac2951501745241fff933e5fa9ecb7"}}