{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2020:XPBJLZD4D2CJMDPPULBABATSOR","short_pith_number":"pith:XPBJLZD4","canonical_record":{"source":{"id":"2008.11906","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-08-27T04:09:31Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e286bc558e1f368f6f552fc95ea0c346bae29af16a7f8280918060dc4b5d1cf0","abstract_canon_sha256":"c909b0e61b7ba5c1be057bc6e524516f19d71d74f1762c5da06e350a5b27729b"},"schema_version":"1.0"},"canonical_sha256":"bbc295e47c1e84960defa2c2008272746b412023d9fe9cde0b9a36215d49840e","source":{"kind":"arxiv","id":"2008.11906","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.11906","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"arxiv_version","alias_value":"2008.11906v2","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.11906","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_12","alias_value":"XPBJLZD4D2CJ","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_16","alias_value":"XPBJLZD4D2CJMDPP","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_8","alias_value":"XPBJLZD4","created_at":"2026-07-05T02:42:43Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2020:XPBJLZD4D2CJMDPPULBABATSOR","target":"record","payload":{"canonical_record":{"source":{"id":"2008.11906","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-08-27T04:09:31Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"e286bc558e1f368f6f552fc95ea0c346bae29af16a7f8280918060dc4b5d1cf0","abstract_canon_sha256":"c909b0e61b7ba5c1be057bc6e524516f19d71d74f1762c5da06e350a5b27729b"},"schema_version":"1.0"},"canonical_sha256":"bbc295e47c1e84960defa2c2008272746b412023d9fe9cde0b9a36215d49840e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:42:43.327899Z","signature_b64":"bB6E0oFheSNYpwsRXvldFloYSOCfh58eVtqhZPXw596R9Gopby/5NThKlHcLrf3llBQoZSOwnr6hhf0Akl90AQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bbc295e47c1e84960defa2c2008272746b412023d9fe9cde0b9a36215d49840e","last_reissued_at":"2026-07-05T02:42:43.327352Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:42:43.327352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2008.11906","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":"2026-07-05T02:42:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Vlf2wdbOp3Hwvz/hUDLm0n42DYB0bG83EEW/480AKTtb5kb7ymxjsHckQYmDoVeOjdOg6/MIwZ/zbv9REPHgAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T10:30:47.013153Z"},"content_sha256":"fe85e48ca13bf2f38504abdabfbf1d959b1aa74cb62b8305c66f4abc56bed840","schema_version":"1.0","event_id":"sha256:fe85e48ca13bf2f38504abdabfbf1d959b1aa74cb62b8305c66f4abc56bed840"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2020:XPBJLZD4D2CJMDPPULBABATSOR","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A principled analysis of Behavior Trees and their generalisations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.AI","authors_text":"(2) The Australian National University, Australia, Australia), Iman Shames (2) ((1) Defence Science, Mohammad Zamani (1), Oliver Biggar (1), Technology Group","submitted_at":"2020-08-27T04:09:31Z","abstract_excerpt":"As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an increasingly popular tree-structured control architecture, are applicable to these goals. Using structured programming as a guide, we analyse the BT principles of reactiveness and modularity in a formal framework of action selection. Proceeding from these principles, we review a number of challenging use cases of BTs in the literature, and show that reasoning vi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.11906","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/2008.11906/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":"2026-07-05T02:42:43Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9oLnKBVnvnlbTH/z8c6jL7cEG1fBNiteg29+bdDHZ75ac/xOceVPOeMlHqZFEnPsblxzDbvtIrXosNiQuxoMBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-05T10:30:47.013822Z"},"content_sha256":"b8c7d1d9c5faba228879a1f71641803cb77f77e0118549b109b25d9d32fce9de","schema_version":"1.0","event_id":"sha256:b8c7d1d9c5faba228879a1f71641803cb77f77e0118549b109b25d9d32fce9de"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XPBJLZD4D2CJMDPPULBABATSOR/bundle.json","state_url":"https://pith.science/pith/XPBJLZD4D2CJMDPPULBABATSOR/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XPBJLZD4D2CJMDPPULBABATSOR/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":"2026-07-05T10:30:47Z","links":{"resolver":"https://pith.science/pith/XPBJLZD4D2CJMDPPULBABATSOR","bundle":"https://pith.science/pith/XPBJLZD4D2CJMDPPULBABATSOR/bundle.json","state":"https://pith.science/pith/XPBJLZD4D2CJMDPPULBABATSOR/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XPBJLZD4D2CJMDPPULBABATSOR/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2020:XPBJLZD4D2CJMDPPULBABATSOR","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":"c909b0e61b7ba5c1be057bc6e524516f19d71d74f1762c5da06e350a5b27729b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-08-27T04:09:31Z","title_canon_sha256":"e286bc558e1f368f6f552fc95ea0c346bae29af16a7f8280918060dc4b5d1cf0"},"schema_version":"1.0","source":{"id":"2008.11906","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2008.11906","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"arxiv_version","alias_value":"2008.11906v2","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2008.11906","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_12","alias_value":"XPBJLZD4D2CJ","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_16","alias_value":"XPBJLZD4D2CJMDPP","created_at":"2026-07-05T02:42:43Z"},{"alias_kind":"pith_short_8","alias_value":"XPBJLZD4","created_at":"2026-07-05T02:42:43Z"}],"graph_snapshots":[{"event_id":"sha256:b8c7d1d9c5faba228879a1f71641803cb77f77e0118549b109b25d9d32fce9de","target":"graph","created_at":"2026-07-05T02:42:43Z","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/2008.11906/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"As complex autonomous robotic systems become more widespread, the need for transparent and reusable Artificial Intelligence (AI) designs becomes more apparent. In this paper we analyse how the principles behind Behavior Trees (BTs), an increasingly popular tree-structured control architecture, are applicable to these goals. Using structured programming as a guide, we analyse the BT principles of reactiveness and modularity in a formal framework of action selection. Proceeding from these principles, we review a number of challenging use cases of BTs in the literature, and show that reasoning vi","authors_text":"(2) The Australian National University, Australia, Australia), Iman Shames (2) ((1) Defence Science, Mohammad Zamani (1), Oliver Biggar (1), Technology Group","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-08-27T04:09:31Z","title":"A principled analysis of Behavior Trees and their generalisations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2008.11906","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:fe85e48ca13bf2f38504abdabfbf1d959b1aa74cb62b8305c66f4abc56bed840","target":"record","created_at":"2026-07-05T02:42:43Z","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":"c909b0e61b7ba5c1be057bc6e524516f19d71d74f1762c5da06e350a5b27729b","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.AI","submitted_at":"2020-08-27T04:09:31Z","title_canon_sha256":"e286bc558e1f368f6f552fc95ea0c346bae29af16a7f8280918060dc4b5d1cf0"},"schema_version":"1.0","source":{"id":"2008.11906","kind":"arxiv","version":2}},"canonical_sha256":"bbc295e47c1e84960defa2c2008272746b412023d9fe9cde0b9a36215d49840e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"bbc295e47c1e84960defa2c2008272746b412023d9fe9cde0b9a36215d49840e","first_computed_at":"2026-07-05T02:42:43.327352Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:42:43.327352Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bB6E0oFheSNYpwsRXvldFloYSOCfh58eVtqhZPXw596R9Gopby/5NThKlHcLrf3llBQoZSOwnr6hhf0Akl90AQ==","signature_status":"signed_v1","signed_at":"2026-07-05T02:42:43.327899Z","signed_message":"canonical_sha256_bytes"},"source_id":"2008.11906","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:fe85e48ca13bf2f38504abdabfbf1d959b1aa74cb62b8305c66f4abc56bed840","sha256:b8c7d1d9c5faba228879a1f71641803cb77f77e0118549b109b25d9d32fce9de"],"state_sha256":"c1cc45668c07d0c0459abc5fe0c35f1994dadab78840ad8eb850cf70d808a059"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xVijtjSNaI/d1ZNhDDqCFmgZM4GQDa3nbWeD0e8mjoMa1DcjOH5hHAB2VA2mFsLdZcU1fEkSOS+eg8OgDswCBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-05T10:30:47.016994Z","bundle_sha256":"8483680961e8a47b313207efc413d005b8c0b37c00cb10a673e4ef639a29f3ef"}}