{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2017:7CFK3HSGCTUFZRWATLWVED4WIQ","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":"8d6b25ab731af6f3a41d72d475e660ecfdf0cba1b4801f0adfd5a76f9b2ba1ee","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2017-03-16T13:59:48Z","title_canon_sha256":"bf5cac2a9a0cc4a16e531bef3d4fb76930cf65308f79c72d64c8d17f44cefa4e"},"schema_version":"1.0","source":{"id":"1703.05623","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1703.05623","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"arxiv_version","alias_value":"1703.05623v1","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1703.05623","created_at":"2026-05-18T00:48:33Z"},{"alias_kind":"pith_short_12","alias_value":"7CFK3HSGCTUF","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_16","alias_value":"7CFK3HSGCTUFZRWA","created_at":"2026-05-18T12:31:03Z"},{"alias_kind":"pith_short_8","alias_value":"7CFK3HSG","created_at":"2026-05-18T12:31:03Z"}],"graph_snapshots":[{"event_id":"sha256:6bf2f5d6efc0648dd394f70e531bb8b3a60ba33bbcad6eab926a85de1e131305","target":"graph","created_at":"2026-05-18T00:48:33Z","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":"Robust environment perception is essential for decision-making on robots operating in complex domains. Intelligent task execution requires principled treatment of uncertainty sources in a robot's observation model. This is important not only for low-level observations (e.g., accelerometer data), but also for high-level observations such as semantic object labels. This paper formalizes the concept of macro-observations in Decentralized Partially Observable Semi-Markov Decision Processes (Dec-POSMDPs), allowing scalable semantic-level multi-robot decision making. A hierarchical Bayesian approach","authors_text":"Brett T. Lopez, Christopher Amato, John Vian, Jonathan P. How, Miao Liu, Michael Everett, Shayegan Omidshafiei, Shih-Yuan Liu","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2017-03-16T13:59:48Z","title":"Semantic-level Decentralized Multi-Robot Decision-Making using Probabilistic Macro-Observations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1703.05623","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":"sha256:3f1f8ede0bbb41b86af6d29dcf1d60774ac82f2bd37d1e1c87aa363b868d2143","target":"record","created_at":"2026-05-18T00:48:33Z","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":"8d6b25ab731af6f3a41d72d475e660ecfdf0cba1b4801f0adfd5a76f9b2ba1ee","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.MA","submitted_at":"2017-03-16T13:59:48Z","title_canon_sha256":"bf5cac2a9a0cc4a16e531bef3d4fb76930cf65308f79c72d64c8d17f44cefa4e"},"schema_version":"1.0","source":{"id":"1703.05623","kind":"arxiv","version":1}},"canonical_sha256":"f88aad9e4614e85cc6c09aed520f96440bd9bcac2b6eeab8b43f9a3b75c6ec34","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f88aad9e4614e85cc6c09aed520f96440bd9bcac2b6eeab8b43f9a3b75c6ec34","first_computed_at":"2026-05-18T00:48:33.799060Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:48:33.799060Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Bbp0wgUFZtXBnT+Fep23b0N1sAsWyKpDr57Ugy75S1Pz3YmK5ePXzoAr5LEzn2c/PplujUM0bTWwt205hGyCBw==","signature_status":"signed_v1","signed_at":"2026-05-18T00:48:33.799700Z","signed_message":"canonical_sha256_bytes"},"source_id":"1703.05623","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3f1f8ede0bbb41b86af6d29dcf1d60774ac82f2bd37d1e1c87aa363b868d2143","sha256:6bf2f5d6efc0648dd394f70e531bb8b3a60ba33bbcad6eab926a85de1e131305"],"state_sha256":"514c38437c31c85efa18f46943b1b8002499434a95bc009c93a3f2f6dc81ac83"}