{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:232FBBD6VM74ZEXFMQ7THYPUXV","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":"da3cb9f8689b3b63e7c3cf53c9f61f3854e6475b4b9bcd72ac555abfe897e393","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T16:56:54Z","title_canon_sha256":"3fb863ef132f41a68a01fe870f466eaca0da6bde47b484612bd8d62544a0e10c"},"schema_version":"1.0","source":{"id":"2606.21600","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.21600","created_at":"2026-06-23T01:13:15Z"},{"alias_kind":"arxiv_version","alias_value":"2606.21600v1","created_at":"2026-06-23T01:13:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.21600","created_at":"2026-06-23T01:13:15Z"},{"alias_kind":"pith_short_12","alias_value":"232FBBD6VM74","created_at":"2026-06-23T01:13:15Z"},{"alias_kind":"pith_short_16","alias_value":"232FBBD6VM74ZEXF","created_at":"2026-06-23T01:13:15Z"},{"alias_kind":"pith_short_8","alias_value":"232FBBD6","created_at":"2026-06-23T01:13:15Z"}],"graph_snapshots":[{"event_id":"sha256:542c3f3a961fb373e2405e7aeefd8bc1b25f0735456ea4992e44e00fe6575377","target":"graph","created_at":"2026-06-23T01:13:15Z","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/2606.21600/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Multi-task robot manipulation policies are challenging to learn from demonstration because traditionally a single network must select among qualitatively different action modes from a multimodal demonstration distribution, conditioned on language and visual context. A wrong mode selection means executing the wrong task or an action infeasible in the scene. Tokenizing continuous actions into a learned discrete codebook separates these modes at the representation level, offering structural advantages for multi-task learning. We propose VQActFlow, a multi-task manipulation policy that tokenizes a","authors_text":"Haoran Liu, Huishu Xue, Mark Leggiero, Sirui Zhan, Ye Zhao, Yifan Wu, Yipu Chen, Zhigen Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T16:56:54Z","title":"VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.21600","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":"sha256:5f9628a0a16e274710a25c9abbcc77bdde83562126779478b11ab9c2e51491a5","target":"record","created_at":"2026-06-23T01:13:15Z","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":"da3cb9f8689b3b63e7c3cf53c9f61f3854e6475b4b9bcd72ac555abfe897e393","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-19T16:56:54Z","title_canon_sha256":"3fb863ef132f41a68a01fe870f466eaca0da6bde47b484612bd8d62544a0e10c"},"schema_version":"1.0","source":{"id":"2606.21600","kind":"arxiv","version":1}},"canonical_sha256":"d6f450847eab3fcc92e5643f33e1f4bd43e676526743ad454579dedc5969b3f5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"d6f450847eab3fcc92e5643f33e1f4bd43e676526743ad454579dedc5969b3f5","first_computed_at":"2026-06-23T01:13:15.899695Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T01:13:15.899695Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"YTD99tY8bpe/IItGu67jgW+7oNOnXG4HIP51jyrA2MPcCbZdoucHTcaTtHpzhdSv0EEc/RPybhmDv7kHtP31Dg==","signature_status":"signed_v1","signed_at":"2026-06-23T01:13:15.900100Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.21600","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5f9628a0a16e274710a25c9abbcc77bdde83562126779478b11ab9c2e51491a5","sha256:542c3f3a961fb373e2405e7aeefd8bc1b25f0735456ea4992e44e00fe6575377"],"state_sha256":"33dcc75a26d1a321b6883031b0f0f254b83d84ce1e92df9556191189262a21b1"}