{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:3RXBZD7K6VJDGXJ7WDNYWBTYHM","short_pith_number":"pith:3RXBZD7K","canonical_record":{"source":{"id":"2607.18231","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T17:58:31Z","cross_cats_sorted":[],"title_canon_sha256":"99900381ca357425b5088e33eec25ff3f433d14a6057ca5b4958dec7083d741d","abstract_canon_sha256":"4e8e5f872762bb9966a2243efee72895b123c7153dff7222c89332c01adc5659"},"schema_version":"1.0"},"canonical_sha256":"dc6e1c8feaf552335d3fb0db8b06783b361d38f50124e8f49ac6845c2bc74c10","source":{"kind":"arxiv","id":"2607.18231","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.18231","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"arxiv_version","alias_value":"2607.18231v1","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.18231","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_12","alias_value":"3RXBZD7K6VJD","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_16","alias_value":"3RXBZD7K6VJDGXJ7","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_8","alias_value":"3RXBZD7K","created_at":"2026-07-21T02:22:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:3RXBZD7K6VJDGXJ7WDNYWBTYHM","target":"record","payload":{"canonical_record":{"source":{"id":"2607.18231","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T17:58:31Z","cross_cats_sorted":[],"title_canon_sha256":"99900381ca357425b5088e33eec25ff3f433d14a6057ca5b4958dec7083d741d","abstract_canon_sha256":"4e8e5f872762bb9966a2243efee72895b123c7153dff7222c89332c01adc5659"},"schema_version":"1.0"},"canonical_sha256":"dc6e1c8feaf552335d3fb0db8b06783b361d38f50124e8f49ac6845c2bc74c10","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-21T02:22:29.163000Z","signature_b64":"2GLHmFEHxJ05hqlvGfI3nW0ie067VLTvNvwblR4eDZi7gNQomeUuFbaUNts05PIyPfQZP0p7V8oG5znK7edKDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"dc6e1c8feaf552335d3fb0db8b06783b361d38f50124e8f49ac6845c2bc74c10","last_reissued_at":"2026-07-21T02:22:29.158851Z","signature_status":"signed_v1","first_computed_at":"2026-07-21T02:22:29.158851Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.18231","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-21T02:22:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JpXIloCvTkVovw68PYtQZqc4S0VljY2SS8uv+NSvlItVHzjTR2bGhR5+LGrPijEpRsoO1JwIhIohWbDz+hp9Aw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T13:21:07.887153Z"},"content_sha256":"0c76f348a1e0855b4bf239a1c3cbe7644f5052e9131cb5154377ae659523bb19","schema_version":"1.0","event_id":"sha256:0c76f348a1e0855b4bf239a1c3cbe7644f5052e9131cb5154377ae659523bb19"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:3RXBZD7K6VJDGXJ7WDNYWBTYHM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Baining Guo, Huizhi Liang, Jianfeng Xiang, Jiaolong Yang, Lin Luo, Qixiu Li, Ruicheng Li, Ruicheng Wang, Ruichun Ma, Yu Deng, Zhiying Du","submitted_at":"2026-07-20T17:58:31Z","abstract_excerpt":"Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by conditioning on past images or language summaries. Vision-based memory approaches address this by conditioning on sampled past image frames, but they are computationally expensive and fundamentally limited when temporal events are visually ambiguous, e.g., pushing a button multiple times with small movements. We propose FM-VLA, a VLA model with force-based memory, enabling temporal context reasoning for non-Markovian, con"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.18231","kind":"arxiv","version":1},"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/2607.18231/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":"2026-07-21T02:22:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9OVxg1KRF4i/Qzg7VYn0k10eFfp9koKPeHn6jt/eZCRHI9sIAnBIMDN8TDqlKSxnNgeX+vEVD9+ExEWx1pIiDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T13:21:07.887712Z"},"content_sha256":"2251fdf17ea5506583176f8451e5a6e771aea55fd89eedecfe6a4dbf333e6b03","schema_version":"1.0","event_id":"sha256:2251fdf17ea5506583176f8451e5a6e771aea55fd89eedecfe6a4dbf333e6b03"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/bundle.json","state_url":"https://pith.science/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/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":"2026-08-03T13:21:07Z","links":{"resolver":"https://pith.science/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM","bundle":"https://pith.science/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/bundle.json","state":"https://pith.science/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3RXBZD7K6VJDGXJ7WDNYWBTYHM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:3RXBZD7K6VJDGXJ7WDNYWBTYHM","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":"4e8e5f872762bb9966a2243efee72895b123c7153dff7222c89332c01adc5659","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T17:58:31Z","title_canon_sha256":"99900381ca357425b5088e33eec25ff3f433d14a6057ca5b4958dec7083d741d"},"schema_version":"1.0","source":{"id":"2607.18231","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.18231","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"arxiv_version","alias_value":"2607.18231v1","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.18231","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_12","alias_value":"3RXBZD7K6VJD","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_16","alias_value":"3RXBZD7K6VJDGXJ7","created_at":"2026-07-21T02:22:29Z"},{"alias_kind":"pith_short_8","alias_value":"3RXBZD7K","created_at":"2026-07-21T02:22:29Z"}],"graph_snapshots":[{"event_id":"sha256:2251fdf17ea5506583176f8451e5a6e771aea55fd89eedecfe6a4dbf333e6b03","target":"graph","created_at":"2026-07-21T02:22:29Z","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/2607.18231/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-language-action (VLA) models have achieved impressive generalization in robotic manipulation, and recent memory-augmented VLAs have relaxed the Markovian assumption by conditioning on past images or language summaries. Vision-based memory approaches address this by conditioning on sampled past image frames, but they are computationally expensive and fundamentally limited when temporal events are visually ambiguous, e.g., pushing a button multiple times with small movements. We propose FM-VLA, a VLA model with force-based memory, enabling temporal context reasoning for non-Markovian, con","authors_text":"Baining Guo, Huizhi Liang, Jianfeng Xiang, Jiaolong Yang, Lin Luo, Qixiu Li, Ruicheng Li, Ruicheng Wang, Ruichun Ma, Yu Deng, Zhiying Du","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T17:58:31Z","title":"FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.18231","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":"sha256:0c76f348a1e0855b4bf239a1c3cbe7644f5052e9131cb5154377ae659523bb19","target":"record","created_at":"2026-07-21T02:22:29Z","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":"4e8e5f872762bb9966a2243efee72895b123c7153dff7222c89332c01adc5659","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-20T17:58:31Z","title_canon_sha256":"99900381ca357425b5088e33eec25ff3f433d14a6057ca5b4958dec7083d741d"},"schema_version":"1.0","source":{"id":"2607.18231","kind":"arxiv","version":1}},"canonical_sha256":"dc6e1c8feaf552335d3fb0db8b06783b361d38f50124e8f49ac6845c2bc74c10","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"dc6e1c8feaf552335d3fb0db8b06783b361d38f50124e8f49ac6845c2bc74c10","first_computed_at":"2026-07-21T02:22:29.158851Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-21T02:22:29.158851Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"2GLHmFEHxJ05hqlvGfI3nW0ie067VLTvNvwblR4eDZi7gNQomeUuFbaUNts05PIyPfQZP0p7V8oG5znK7edKDw==","signature_status":"signed_v1","signed_at":"2026-07-21T02:22:29.163000Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.18231","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0c76f348a1e0855b4bf239a1c3cbe7644f5052e9131cb5154377ae659523bb19","sha256:2251fdf17ea5506583176f8451e5a6e771aea55fd89eedecfe6a4dbf333e6b03"],"state_sha256":"b91fae6892fb2c11b008174de947d0f8a1ba71f016f1d9dca73f37e8853e1dd3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"00K+dKjYoM1X+Rx8UxY/08jTF3wyklUEPfys/V5GUCJrq2ntqsHpcGNIw1+UPoKDQzgsNtc3IM6TVAIBgV35AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T13:21:07.892879Z","bundle_sha256":"6f51352952d4d0b0fda047214d75668725c8b175f17531b263dba0161a73db63"}}