{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:ZICD7JW5BBHAVMR5VXFPKU2TIN","short_pith_number":"pith:ZICD7JW5","canonical_record":{"source":{"id":"1903.05149","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T19:02:09Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"cca7d72296c2e0063a6a3e863cbdf8ff7241d7e36229b2374041932e9fdd7b5c","abstract_canon_sha256":"0ad326d285d85787d57415e273d9e3000f0fac47daece8653204af325a2e9175"},"schema_version":"1.0"},"canonical_sha256":"ca043fa6dd084e0ab23dadcaf5535343756ff8e75d6c54dc684304783d27af5e","source":{"kind":"arxiv","id":"1903.05149","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.05149","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"arxiv_version","alias_value":"1903.05149v3","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.05149","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZICD7JW5BBHA","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZICD7JW5BBHAVMR5","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZICD7JW5","created_at":"2026-07-05T00:38:53Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:ZICD7JW5BBHAVMR5VXFPKU2TIN","target":"record","payload":{"canonical_record":{"source":{"id":"1903.05149","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T19:02:09Z","cross_cats_sorted":["cs.MA"],"title_canon_sha256":"cca7d72296c2e0063a6a3e863cbdf8ff7241d7e36229b2374041932e9fdd7b5c","abstract_canon_sha256":"0ad326d285d85787d57415e273d9e3000f0fac47daece8653204af325a2e9175"},"schema_version":"1.0"},"canonical_sha256":"ca043fa6dd084e0ab23dadcaf5535343756ff8e75d6c54dc684304783d27af5e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T00:38:53.720518Z","signature_b64":"AwCfQHDzdrt9XJv5vCzahJNKxB0YohIjn9swujiV9f+5PhBKnfJi9MPnYYogi+2gay+3lFetggZaNhzQKDE5DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ca043fa6dd084e0ab23dadcaf5535343756ff8e75d6c54dc684304783d27af5e","last_reissued_at":"2026-07-05T00:38:53.720041Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T00:38:53.720041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1903.05149","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T00:38:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"x+sVXYBPhmnuTAGBJm/F6q8Y0AxptFo0Dc4KapwUgit1OsV5RrMMECG29UCDDtZ9kFnewfcwZH+e+adG0yMHBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:40:57.775392Z"},"content_sha256":"42ed3a8cafe23e51f44968b30b59ac2b6544938f3aa69b4985632d1db519038c","schema_version":"1.0","event_id":"sha256:42ed3a8cafe23e51f44968b30b59ac2b6544938f3aa69b4985632d1db519038c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:ZICD7JW5BBHAVMR5VXFPKU2TIN","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"STRATA: A Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.MA"],"primary_cat":"cs.RO","authors_text":"Harish Ravichandar, Kenneth Shaw, Sonia Chernova","submitted_at":"2019-03-12T19:02:09Z","abstract_excerpt":"Large teams of heterogeneous agents have the potential to solve complex multi-task problems that are intractable for a single agent working independently. However, solving complex multi-task problems requires leveraging the relative strengths of the different kinds of agents in the team. We present Stochastic TRAit-based Task Assignment (STRATA), a unified framework that models large teams of heterogeneous agents and performs effective task assignments. Specifically, given information on which traits (capabilities) are required for various tasks, STRATA computes the assignments of agents to ta"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.05149","kind":"arxiv","version":3},"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/1903.05149/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":"2026-07-05T00:38:53Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JGIUbI+B8q3VFjJTn0dWLp3SZKhgvxmdNS2ZU3X3dpnS6ZBCDY086Oplw9IBPCEvjrD6a9+nEpMpCVY4TQecDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:40:57.775770Z"},"content_sha256":"42455a55537842c43ad156144a88525870dc53ca95c305c61ffe762a9a2787bf","schema_version":"1.0","event_id":"sha256:42455a55537842c43ad156144a88525870dc53ca95c305c61ffe762a9a2787bf"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/bundle.json","state_url":"https://pith.science/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/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":"2026-07-07T08:40:57Z","links":{"resolver":"https://pith.science/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN","bundle":"https://pith.science/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/bundle.json","state":"https://pith.science/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZICD7JW5BBHAVMR5VXFPKU2TIN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:ZICD7JW5BBHAVMR5VXFPKU2TIN","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":"0ad326d285d85787d57415e273d9e3000f0fac47daece8653204af325a2e9175","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T19:02:09Z","title_canon_sha256":"cca7d72296c2e0063a6a3e863cbdf8ff7241d7e36229b2374041932e9fdd7b5c"},"schema_version":"1.0","source":{"id":"1903.05149","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1903.05149","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"arxiv_version","alias_value":"1903.05149v3","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1903.05149","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_12","alias_value":"ZICD7JW5BBHA","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_16","alias_value":"ZICD7JW5BBHAVMR5","created_at":"2026-07-05T00:38:53Z"},{"alias_kind":"pith_short_8","alias_value":"ZICD7JW5","created_at":"2026-07-05T00:38:53Z"}],"graph_snapshots":[{"event_id":"sha256:42455a55537842c43ad156144a88525870dc53ca95c305c61ffe762a9a2787bf","target":"graph","created_at":"2026-07-05T00:38:53Z","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/1903.05149/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Large teams of heterogeneous agents have the potential to solve complex multi-task problems that are intractable for a single agent working independently. However, solving complex multi-task problems requires leveraging the relative strengths of the different kinds of agents in the team. We present Stochastic TRAit-based Task Assignment (STRATA), a unified framework that models large teams of heterogeneous agents and performs effective task assignments. Specifically, given information on which traits (capabilities) are required for various tasks, STRATA computes the assignments of agents to ta","authors_text":"Harish Ravichandar, Kenneth Shaw, Sonia Chernova","cross_cats":["cs.MA"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T19:02:09Z","title":"STRATA: A Unified Framework for Task Assignments in Large Teams of Heterogeneous Agents"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1903.05149","kind":"arxiv","version":3},"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":"sha256:42ed3a8cafe23e51f44968b30b59ac2b6544938f3aa69b4985632d1db519038c","target":"record","created_at":"2026-07-05T00:38:53Z","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":"0ad326d285d85787d57415e273d9e3000f0fac47daece8653204af325a2e9175","cross_cats_sorted":["cs.MA"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-03-12T19:02:09Z","title_canon_sha256":"cca7d72296c2e0063a6a3e863cbdf8ff7241d7e36229b2374041932e9fdd7b5c"},"schema_version":"1.0","source":{"id":"1903.05149","kind":"arxiv","version":3}},"canonical_sha256":"ca043fa6dd084e0ab23dadcaf5535343756ff8e75d6c54dc684304783d27af5e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ca043fa6dd084e0ab23dadcaf5535343756ff8e75d6c54dc684304783d27af5e","first_computed_at":"2026-07-05T00:38:53.720041Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T00:38:53.720041Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"AwCfQHDzdrt9XJv5vCzahJNKxB0YohIjn9swujiV9f+5PhBKnfJi9MPnYYogi+2gay+3lFetggZaNhzQKDE5DA==","signature_status":"signed_v1","signed_at":"2026-07-05T00:38:53.720518Z","signed_message":"canonical_sha256_bytes"},"source_id":"1903.05149","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:42ed3a8cafe23e51f44968b30b59ac2b6544938f3aa69b4985632d1db519038c","sha256:42455a55537842c43ad156144a88525870dc53ca95c305c61ffe762a9a2787bf"],"state_sha256":"1e43eaade96d692129a2c74d2686850a0bd23d298be778d69666971209618ba1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ig3hqJ8IvjlY51p9XKvwaxPx9DuBudQHBY0celT+qFZlyql9TArT0NIe6sMgz8rKVZZlC8prRkLThscbCeFICQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T08:40:57.777677Z","bundle_sha256":"1c50975ddd4680a5e5f9d36edc375740353aa36ae32ad7fa3cc530f2ecc0e828"}}