Pith Number

pith:7IN57SP6

pith:2024:7IN57SP6LBLQZVDKRNMLDBN7U3

not attested not anchored not stored refs pending

CoA-VLA: Improving Vision-Language-Action Models via Visual-Textual Chain-of-Affordance

Chengmeng Li, Feifei Feng, Jinming Li, Junjie Wen, Minjie Zhu, Ran Cheng, Xiaoyu Liu, Yan Peng, Yaxin Peng, Yichen Zhu, Zhibin Tang

arxiv:2412.20451 v2 · 2024-12-29 · cs.RO

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\usepackage{pith}
\pithnumber{7IN57SP6LBLQZVDKRNMLDBN7U3}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

5 papers in Pith

AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understanding

GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping

General Covariant Action Modeling: Constructing Generalized Manifolds via Spatio-Temporal Decoupling

VP-VLA: Visual Prompting as an Interface for Vision-Language-Action Models

TriRelVLA: Triadic Relational Structure for Generalizable Embodied Manipulation

Receipt and verification

First computed	2026-07-05T11:46:20.692251Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

fa1bdfc9fe58570cd46a8b58b185bfa6e236b6289f2951ea186b756c88fccc43

Aliases

arxiv: 2412.20451 · arxiv_version: 2412.20451v2 · doi: 10.48550/arxiv.2412.20451 · pith_short_12: 7IN57SP6LBLQ · pith_short_16: 7IN57SP6LBLQZVDK · pith_short_8: 7IN57SP6

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/7IN57SP6LBLQZVDKRNMLDBN7U3 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: fa1bdfc9fe58570cd46a8b58b185bfa6e236b6289f2951ea186b756c88fccc43

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "30b880432a77c3d8ac74692abbbac52f36b66dc1f1442a40a3e1af84fd30d42a",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2024-12-29T12:24:31Z",
    "title_canon_sha256": "40ad2e06c7c9b5c2b3a5d767c623dee4a2309e06b55d49290b146d79825630db"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2412.20451",
    "kind": "arxiv",
    "version": 2
  }
}