Guilt is part of a self correction that makes social animals better able to interact and cooperate.
My own dog does a guilt/submission by lifting his paw as if it were hurt, as in...
“you wouldn't beat/scold a dog with a hurt paw, would ya?”
That is a known wolf submission sign.
I was taught years ago, that a lifted paw is a sign of stress (something to watch out for when training—perhaps the dog is getting concerned because they don’t understand what you want for instance). But, probably different experts have different opinions on that stuff. I know if I read 10 books on dogs I will find they all differ in some things. Fascinating creatures, however.