Pith Number

pith:AUEIABT2

pith:2026:AUEIABT27JJ4ASKSWHOIPSBDSZ

not attested not anchored not stored refs resolved

WarmPrior: Straightening Flow-Matching Policies with Temporal Priors

Chanyoung Kim, Kaixin Wang, Kimin Lee, Li Zhao, Sinjae Kang

Replacing Gaussian noise with recent action history as the source prior straightens flow-matching paths and raises success rates in robot control.

arxiv:2605.13959 v1 · 2026-05-13 · cs.LG · cs.AI · cs.RO

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\usepackage{pith}
\pithnumber{AUEIABT27JJ4ASKSWHOIPSBDSZ}

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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.

Claims

C1strongest claim

replacing the standard Gaussian source distribution with WarmPrior, a simple temporally grounded prior constructed from readily available recent action history, consistently improves success rates on robotic manipulation tasks

C2weakest assumption

That a prior constructed from recent action history will reliably produce straighter paths and performance gains across tasks without introducing harmful temporal biases or reducing robustness to distribution shift.

C3one line summary

Replacing Gaussian noise with a temporally grounded prior from recent actions straightens flow-matching paths and improves success rates in robotic manipulation and prior-space RL.

References

15 extracted · 15 resolved · 7 Pith anchors

[1] GR00T N1: An Open Foundation Model for Generalist Humanoid Robots · arXiv:2503.14734

[2] Eagle 2.5: Boosting long-context post-training for frontier vision-language models.arXiv preprint arXiv:2504.15271, 2025a

[3] Don’t start from scratch: Behavioral refinement via interpolant-based policy diffusion.arXiv preprint arXiv:2402.16075,

[4] Action-to-Action Flow Matching · arXiv:2602.07322

[5] HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy · arXiv:2510.00695

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-17T23:39:13.632258Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

050880067afa53c04952b1dc87c823967cbcadd75951c0d42c6505e141c59bde

Aliases

arxiv: 2605.13959 · arxiv_version: 2605.13959v1 · doi: 10.48550/arxiv.2605.13959 · pith_short_12: AUEIABT27JJ4 · pith_short_16: AUEIABT27JJ4ASKS · pith_short_8: AUEIABT2

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/AUEIABT27JJ4ASKSWHOIPSBDSZ \
  | 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: 050880067afa53c04952b1dc87c823967cbcadd75951c0d42c6505e141c59bde

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "a3b19a05ae66ca757af5fd76c6e75f33755c29d9fe53467f800c9195375db898",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.RO"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.LG",
    "submitted_at": "2026-05-13T18:00:01Z",
    "title_canon_sha256": "796b45188b5c6cc60f98fc63ae09fa5cf0236137df89022be23a0bd4c8032b17"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13959",
    "kind": "arxiv",
    "version": 1
  }
}