{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:OEY5PUNXORHQONW3K345MQWY7H","short_pith_number":"pith:OEY5PUNX","canonical_record":{"source":{"id":"2106.10853","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-21T04:39:55Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e80ddf7b59bc8d7d9367875fa2be84f629165c0b046dc7d472983385beb5d376","abstract_canon_sha256":"ee83b5182b009ef61c1cf37c691b634e23b988e6cc6b13746c5816cca3ff5872"},"schema_version":"1.0"},"canonical_sha256":"7131d7d1b7744f0736db56f9d642d8f9e7abd057eaf1cc8509342aeea63b04d5","source":{"kind":"arxiv","id":"2106.10853","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.10853","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"arxiv_version","alias_value":"2106.10853v2","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.10853","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_12","alias_value":"OEY5PUNXORHQ","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_16","alias_value":"OEY5PUNXORHQONW3","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_8","alias_value":"OEY5PUNX","created_at":"2026-07-05T02:53:02Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:OEY5PUNXORHQONW3K345MQWY7H","target":"record","payload":{"canonical_record":{"source":{"id":"2106.10853","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-21T04:39:55Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e80ddf7b59bc8d7d9367875fa2be84f629165c0b046dc7d472983385beb5d376","abstract_canon_sha256":"ee83b5182b009ef61c1cf37c691b634e23b988e6cc6b13746c5816cca3ff5872"},"schema_version":"1.0"},"canonical_sha256":"7131d7d1b7744f0736db56f9d642d8f9e7abd057eaf1cc8509342aeea63b04d5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T02:53:02.948020Z","signature_b64":"8BgHCsxd1PD0oNlaSm+jevuCRe6TjaCEb8x9AEApThB7YkqIE8Iez7JfnwejlCt9WT+f0DSr7gUqRKd3d42KDg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7131d7d1b7744f0736db56f9d642d8f9e7abd057eaf1cc8509342aeea63b04d5","last_reissued_at":"2026-07-05T02:53:02.947599Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T02:53:02.947599Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2106.10853","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":"2026-07-05T02:53:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"VQXHYNwzq+Ce3PqYuqk7LXgfY3nxSZtJBzc0ZTZ44aqAbmnNuWzJt2UKNfnAQtfw2T3c7repa8xyR4xs1dwyCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T15:11:56.632630Z"},"content_sha256":"1c30a03d777cd8933dd682b8b8d878bbd09e7737a11dee2102ab57f4c0d66831","schema_version":"1.0","event_id":"sha256:1c30a03d777cd8933dd682b8b8d878bbd09e7737a11dee2102ab57f4c0d66831"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:OEY5PUNXORHQONW3K345MQWY7H","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"On the Importance of Environments in Human-Robot Coordination","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bryon Tjanaka, Matthew C. Fontaine, Stefanos Nikolaidis, Ya-Chuan Hsu, Yulun Zhang","submitted_at":"2021-06-21T04:39:55Z","abstract_excerpt":"When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on coordination behaviors. To thoroughly explore environments that result in diverse behaviors, we propose a framework for procedural generation of environments that are (1) stylistically similar to human-authored environments, (2) guaranteed to be solvable by the human-robot team, and (3) diverse with respect to coordination measures. We analyze the procedurally"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.10853","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/2106.10853/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":"2026-07-05T02:53:02Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wVD4mPLrPYQYJWPOuddond3w0mMiTcxL4IwLXQ4x60O90ezDv0O9U0ZhWQJbYfQ+L1+x0UWK8aFTxHOKXWGLBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T15:11:56.633176Z"},"content_sha256":"631239263b51516b47b37c2d23461e364c0e4b816b4bc49032d547b36598b43d","schema_version":"1.0","event_id":"sha256:631239263b51516b47b37c2d23461e364c0e4b816b4bc49032d547b36598b43d"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OEY5PUNXORHQONW3K345MQWY7H/bundle.json","state_url":"https://pith.science/pith/OEY5PUNXORHQONW3K345MQWY7H/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OEY5PUNXORHQONW3K345MQWY7H/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":"2026-08-23T15:11:56Z","links":{"resolver":"https://pith.science/pith/OEY5PUNXORHQONW3K345MQWY7H","bundle":"https://pith.science/pith/OEY5PUNXORHQONW3K345MQWY7H/bundle.json","state":"https://pith.science/pith/OEY5PUNXORHQONW3K345MQWY7H/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OEY5PUNXORHQONW3K345MQWY7H/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:OEY5PUNXORHQONW3K345MQWY7H","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":"ee83b5182b009ef61c1cf37c691b634e23b988e6cc6b13746c5816cca3ff5872","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-21T04:39:55Z","title_canon_sha256":"e80ddf7b59bc8d7d9367875fa2be84f629165c0b046dc7d472983385beb5d376"},"schema_version":"1.0","source":{"id":"2106.10853","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2106.10853","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"arxiv_version","alias_value":"2106.10853v2","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2106.10853","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_12","alias_value":"OEY5PUNXORHQ","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_16","alias_value":"OEY5PUNXORHQONW3","created_at":"2026-07-05T02:53:02Z"},{"alias_kind":"pith_short_8","alias_value":"OEY5PUNX","created_at":"2026-07-05T02:53:02Z"}],"graph_snapshots":[{"event_id":"sha256:631239263b51516b47b37c2d23461e364c0e4b816b4bc49032d547b36598b43d","target":"graph","created_at":"2026-07-05T02:53:02Z","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/2106.10853/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on coordination behaviors. To thoroughly explore environments that result in diverse behaviors, we propose a framework for procedural generation of environments that are (1) stylistically similar to human-authored environments, (2) guaranteed to be solvable by the human-robot team, and (3) diverse with respect to coordination measures. We analyze the procedurally","authors_text":"Bryon Tjanaka, Matthew C. Fontaine, Stefanos Nikolaidis, Ya-Chuan Hsu, Yulun Zhang","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-21T04:39:55Z","title":"On the Importance of Environments in Human-Robot Coordination"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2106.10853","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":"sha256:1c30a03d777cd8933dd682b8b8d878bbd09e7737a11dee2102ab57f4c0d66831","target":"record","created_at":"2026-07-05T02:53:02Z","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":"ee83b5182b009ef61c1cf37c691b634e23b988e6cc6b13746c5816cca3ff5872","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-06-21T04:39:55Z","title_canon_sha256":"e80ddf7b59bc8d7d9367875fa2be84f629165c0b046dc7d472983385beb5d376"},"schema_version":"1.0","source":{"id":"2106.10853","kind":"arxiv","version":2}},"canonical_sha256":"7131d7d1b7744f0736db56f9d642d8f9e7abd057eaf1cc8509342aeea63b04d5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7131d7d1b7744f0736db56f9d642d8f9e7abd057eaf1cc8509342aeea63b04d5","first_computed_at":"2026-07-05T02:53:02.947599Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T02:53:02.947599Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"8BgHCsxd1PD0oNlaSm+jevuCRe6TjaCEb8x9AEApThB7YkqIE8Iez7JfnwejlCt9WT+f0DSr7gUqRKd3d42KDg==","signature_status":"signed_v1","signed_at":"2026-07-05T02:53:02.948020Z","signed_message":"canonical_sha256_bytes"},"source_id":"2106.10853","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:1c30a03d777cd8933dd682b8b8d878bbd09e7737a11dee2102ab57f4c0d66831","sha256:631239263b51516b47b37c2d23461e364c0e4b816b4bc49032d547b36598b43d"],"state_sha256":"8e97cf7d629959cbd489f2c8b7ebbd2707975587c78553f8cecd4220ad6ef401"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CFzdwn9DRaLZoQB2Z6LcDgfuMRwGzHhCgBIxLwEzEXKIrnkSewoS4U4SGlksYappoxNDX9zJ3UuEwPoQ+X+eDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T15:11:56.636735Z","bundle_sha256":"6255f0e805767e8c402f3672a94b7c3a83ed6d60bc16fb170b0e4b349180824d"}}