{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2022:PZC444T7LTTTM2TXDQQD7AJRG5","short_pith_number":"pith:PZC444T7","schema_version":"1.0","canonical_sha256":"7e45ce727f5ce7366a771c203f813137771b2eeb1c1f42d5e17338c048b8ae39","source":{"kind":"arxiv","id":"2203.02994","version":2},"attestation_state":"computed","paper":{"title":"Interactive Disambiguation for Behavior Tree Execution","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Smith, Fethiye Irmak Do\\u{g}an, Iolanda Leite, Matteo Iovino","submitted_at":"2022-03-06T16:02:09Z","abstract_excerpt":"In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with possible ambiguities. It is important to have methods capable of generating robot programs easily, that are made as general as possible by handling uncertainties. We present a system that integrates a method to learn Behavior Trees (BTs) from demonstration for pick and place tasks, with a framework that uses verbal interaction to ask follow-up clarification "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2203.02994","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-03-06T16:02:09Z","cross_cats_sorted":[],"title_canon_sha256":"b7e79cbe8b6ee5a5d86e48a386e73e5044adb669ec2d76c62e4dfe25f143aaad","abstract_canon_sha256":"d2470009a5e6aeb47a547710a0fc77b51235a37f0633286c6d5d1958e197cf72"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T04:03:39.335496Z","signature_b64":"ra3SyidT829RVyA1ozVf5rDXuVYkObNecVwrIhVsJRHBCjEea4r++AkMvTtQwj1RjsvbRY8dUWJVKQjqUmpLBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"7e45ce727f5ce7366a771c203f813137771b2eeb1c1f42d5e17338c048b8ae39","last_reissued_at":"2026-07-05T04:03:39.335040Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T04:03:39.335040Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Interactive Disambiguation for Behavior Tree Execution","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Smith, Fethiye Irmak Do\\u{g}an, Iolanda Leite, Matteo Iovino","submitted_at":"2022-03-06T16:02:09Z","abstract_excerpt":"In recent years, robots are used in an increasing variety of tasks, especially by small- and medium- sized enterprises. These tasks are usually fast-changing, they have a collaborative scenario and happen in unpredictable environments with possible ambiguities. It is important to have methods capable of generating robot programs easily, that are made as general as possible by handling uncertainties. We present a system that integrates a method to learn Behavior Trees (BTs) from demonstration for pick and place tasks, with a framework that uses verbal interaction to ask follow-up clarification "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2203.02994","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/2203.02994/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2203.02994","created_at":"2026-07-05T04:03:39.335100+00:00"},{"alias_kind":"arxiv_version","alias_value":"2203.02994v2","created_at":"2026-07-05T04:03:39.335100+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2203.02994","created_at":"2026-07-05T04:03:39.335100+00:00"},{"alias_kind":"pith_short_12","alias_value":"PZC444T7LTTT","created_at":"2026-07-05T04:03:39.335100+00:00"},{"alias_kind":"pith_short_16","alias_value":"PZC444T7LTTTM2TX","created_at":"2026-07-05T04:03:39.335100+00:00"},{"alias_kind":"pith_short_8","alias_value":"PZC444T7","created_at":"2026-07-05T04:03:39.335100+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5","json":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5.json","graph_json":"https://pith.science/api/pith-number/PZC444T7LTTTM2TXDQQD7AJRG5/graph.json","events_json":"https://pith.science/api/pith-number/PZC444T7LTTTM2TXDQQD7AJRG5/events.json","paper":"https://pith.science/paper/PZC444T7"},"agent_actions":{"view_html":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5","download_json":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5.json","view_paper":"https://pith.science/paper/PZC444T7","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2203.02994&json=true","fetch_graph":"https://pith.science/api/pith-number/PZC444T7LTTTM2TXDQQD7AJRG5/graph.json","fetch_events":"https://pith.science/api/pith-number/PZC444T7LTTTM2TXDQQD7AJRG5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5/action/storage_attestation","attest_author":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5/action/author_attestation","sign_citation":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5/action/citation_signature","submit_replication":"https://pith.science/pith/PZC444T7LTTTM2TXDQQD7AJRG5/action/replication_record"}},"created_at":"2026-07-05T04:03:39.335100+00:00","updated_at":"2026-07-05T04:03:39.335100+00:00"}