{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:4AGTECOHQ3M2WJ7XX2IRFOSZB4","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":"f938b61f5ef86c1684c9ab6d69ee05e6047b63a166e526ea1d8fcb58a1cdae00","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-20T12:40:25Z","title_canon_sha256":"b9789efb7f54dc39845e359f7b828a6116048a2cf1fa8402528fa5c240d37cd3"},"schema_version":"1.0","source":{"id":"1808.06423","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1808.06423","created_at":"2026-05-18T00:03:15Z"},{"alias_kind":"arxiv_version","alias_value":"1808.06423v3","created_at":"2026-05-18T00:03:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1808.06423","created_at":"2026-05-18T00:03:15Z"},{"alias_kind":"pith_short_12","alias_value":"4AGTECOHQ3M2","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_16","alias_value":"4AGTECOHQ3M2WJ7X","created_at":"2026-05-18T12:32:05Z"},{"alias_kind":"pith_short_8","alias_value":"4AGTECOH","created_at":"2026-05-18T12:32:05Z"}],"graph_snapshots":[{"event_id":"sha256:64b9d369ab300eeb60bf32626bd48fcb83bd1fae15ba5af0c87f35631695bfad","target":"graph","created_at":"2026-05-18T00:03:15Z","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":"When a robot is operating in a dynamic environment, it cannot be assumed that a tool required to solve a given task will always be available. In case of a missing tool, an ideal response would be to find a substitute to complete the task. In this paper, we present a proof of concept of a grounded knowledge-based approach to tool substitution. In order to validate the suitability of a substitute, we conducted experiments involving 22 substitution scenarios. The substitutes computed by the proposed approach were validated on the basis of the experts' choices for each scenario. Our evaluation sho","authors_text":"Christian A. Mueller, Madhura Thosar, Sebastian Zug","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-20T12:40:25Z","title":"What Stands-in for a Missing Tool? A Prototypical Grounded Knowledge-based Approach to Tool Substitution"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.06423","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":"sha256:13ac55f003d9d09d27c30f04fd9c4fc2842c0d7bc9dd7320ef11510c1deadcc2","target":"record","created_at":"2026-05-18T00:03:15Z","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":"f938b61f5ef86c1684c9ab6d69ee05e6047b63a166e526ea1d8fcb58a1cdae00","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-08-20T12:40:25Z","title_canon_sha256":"b9789efb7f54dc39845e359f7b828a6116048a2cf1fa8402528fa5c240d37cd3"},"schema_version":"1.0","source":{"id":"1808.06423","kind":"arxiv","version":3}},"canonical_sha256":"e00d3209c786d9ab27f7be9112ba590f3b6df36fcbb99f5a0bf5ba3324ada84b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e00d3209c786d9ab27f7be9112ba590f3b6df36fcbb99f5a0bf5ba3324ada84b","first_computed_at":"2026-05-18T00:03:15.303826Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:03:15.303826Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"tuY4PMXcThQgJ9Kbg98UkUW9CbAt0JBC80KkOQYu+z20wyQnx8WQWI3kCPas/xugthDTOrk5/OcCGpLRPgpgDg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:03:15.304552Z","signed_message":"canonical_sha256_bytes"},"source_id":"1808.06423","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:13ac55f003d9d09d27c30f04fd9c4fc2842c0d7bc9dd7320ef11510c1deadcc2","sha256:64b9d369ab300eeb60bf32626bd48fcb83bd1fae15ba5af0c87f35631695bfad"],"state_sha256":"4afd8476a02192dc656d188e00bcbf1163f0753183d0ab1edbfcd0b476a52ec0"}