I'm not going to belabour the point as we are clearly not going to all agree on this one.
But I'll just finish by saying that that "guilty look" is, in my opinion and that of many modern dog behaviourists, fear at the anticipated random anger which they have learned can happen on the humans' return, and not at all linked to awareness of the deed they did some minutes or hours ago. Human comes in, sees ripped cushion / empty plate / whatever. Human body language alerts dog that human is not happy. Dog has learned that this often precedes a reprimand, so dog's body language goes fear / submission / appeasment. Human thinks dog is guilty and knows it, so interprets fear / submission / appeasment body language as guilt.
So they eat the sausage you left defrosting in the kitchen when you were doing the garden and you left the kitchen door open. You don't discover this for hours. Do you ignore that?
Yes, 100%, because I cannot punish the dog
for that. I can only punish the dog randomly and make it feel insecure, and furthermore, increase its anxiety when I leave it in anticipation of random punishments on my return.
Would you ignore it if they pinched it off your plate whilst you turned your back momentarily?
Same answer.
If I want to stop the dog pinching my sausages, the best way is to set it up to catch it
about to do it, and make the sausages scary so that it builds an association of "oooh, not nice, don't want them after all" when it looks at sausages that aren't in its bowl (or being given to it by your hand if you like doing that.) The beauty of this is it is not dependant on you being present for a plate of sausages to be unpleasant and the dog walk away from them.