{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:4YQNXPDXS4FP2HUCUO4C2VNUQN","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":"27506e1143f1d63115e1d3cd0fbad2a8caee68865e535b5a3c028ba5c15cd6e0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T17:59:45Z","title_canon_sha256":"57b5c60e817c8b682ca347e8c0a3eb75bd874b045030a7056073820f4c270991"},"schema_version":"1.0","source":{"id":"2606.13675","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.13675","created_at":"2026-06-12T01:10:22Z"},{"alias_kind":"arxiv_version","alias_value":"2606.13675v1","created_at":"2026-06-12T01:10:22Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.13675","created_at":"2026-06-12T01:10:22Z"},{"alias_kind":"pith_short_12","alias_value":"4YQNXPDXS4FP","created_at":"2026-06-12T01:10:22Z"},{"alias_kind":"pith_short_16","alias_value":"4YQNXPDXS4FP2HUC","created_at":"2026-06-12T01:10:22Z"},{"alias_kind":"pith_short_8","alias_value":"4YQNXPDX","created_at":"2026-06-12T01:10:22Z"}],"graph_snapshots":[{"event_id":"sha256:292c94fb13756568517b7205f9d55acc6de8cc9239f04e16a65f99096dc6642b","target":"graph","created_at":"2026-06-12T01:10:22Z","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/2606.13675/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generalist policies can learn a wide range of skills from diverse robot datasets. In order to solve or improve on challenging news tasks, we need a way to infer and invoke the appropriate actions from the policy's rich behavioral prior, especially when directly commanding the policy fails. We focus on flow matching generalists and propose Flow Reversal Steering (FRS): a method that takes suboptimal but ``reasonable'' actions, finds their latent noises by passing them through the flow policy in reverse, and maps them to nearby generalist action modes. We evaluate FRS across many simulated and r","authors_text":"Andrew Wagenmaker, Andy Tang, Chelsea Finn, Sergey Levine, William Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T17:59:45Z","title":"Improving Robotic Generalist Policies via Flow Reversal Steering"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.13675","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:ca38bb4688a5bc2f9954ec98d62bbe546fc9dfad277be6db165a18123bca1ad7","target":"record","created_at":"2026-06-12T01:10:22Z","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":"27506e1143f1d63115e1d3cd0fbad2a8caee68865e535b5a3c028ba5c15cd6e0","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T17:59:45Z","title_canon_sha256":"57b5c60e817c8b682ca347e8c0a3eb75bd874b045030a7056073820f4c270991"},"schema_version":"1.0","source":{"id":"2606.13675","kind":"arxiv","version":1}},"canonical_sha256":"e620dbbc77970afd1e82a3b82d55b48379618fef088e75ea04f2033aeee31caa","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e620dbbc77970afd1e82a3b82d55b48379618fef088e75ea04f2033aeee31caa","first_computed_at":"2026-06-12T01:10:22.878650Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-12T01:10:22.878650Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"I99Ozyn/JWiZFn8bs1qdtSNehQwqp7SOqSQG/wha2cWPmrm6byEfcLYQPqhbeBaCd2+KVNM8Qab9QOQSEeKYAg==","signature_status":"signed_v1","signed_at":"2026-06-12T01:10:22.879424Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.13675","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ca38bb4688a5bc2f9954ec98d62bbe546fc9dfad277be6db165a18123bca1ad7","sha256:292c94fb13756568517b7205f9d55acc6de8cc9239f04e16a65f99096dc6642b"],"state_sha256":"1d3e1ce06924cf15919b09102ab80e6ff38a9120f7d24295dcee64c4028356ff"}