{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:AVISAYCZFM7G7NVNZQHHS4BVPK","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":"115d6f335823971a3b525b1004a8dea467585c35f9d29fcb3d3586805dec2e98","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T05:59:53Z","title_canon_sha256":"abe13f2dbc41e5fe7e26fbf2c22591cb3d3823d6d4a942d7017f585f9e54818f"},"schema_version":"1.0","source":{"id":"2605.29407","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.29407","created_at":"2026-05-29T01:05:37Z"},{"alias_kind":"arxiv_version","alias_value":"2605.29407v1","created_at":"2026-05-29T01:05:37Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.29407","created_at":"2026-05-29T01:05:37Z"},{"alias_kind":"pith_short_12","alias_value":"AVISAYCZFM7G","created_at":"2026-05-29T01:05:37Z"},{"alias_kind":"pith_short_16","alias_value":"AVISAYCZFM7G7NVN","created_at":"2026-05-29T01:05:37Z"},{"alias_kind":"pith_short_8","alias_value":"AVISAYCZ","created_at":"2026-05-29T01:05:37Z"}],"graph_snapshots":[{"event_id":"sha256:b8ab2eef6eb347cd59daa6540b61a6761a7a641fcec33e90f69afd252d3568ba","target":"graph","created_at":"2026-05-29T01:05:37Z","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/2605.29407/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper presents a phase-conditioned, force-aware framework for robust deformable object manipulation. Standard imitation learning policies such as Action Chunking with Transformers (ACT) rely on a Markovian assumption at inference, causing state aliasing when visually similar observations require contradictory actions and preventing autonomous recovery from execution failures. We address this with a closed-loop hierarchical architecture. A FiLM-conditioned ACT encoder modulates feature extraction based on the current task phase, enabling a single unified policy to produce phase-specific be","authors_text":"Dayuan Chen, Kai Tang, Kazuhiro Kosuge, Yasuhisa Hirata, Yukuan Zhang","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T05:59:53Z","title":"Phase-Conditioned Imitation Learning with Autonomous Failure Recovery for Robust Deformable Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.29407","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:a1c6effbdafc76b64937369f51f9c45f91e286f68bece1ac7b1e3d474df33966","target":"record","created_at":"2026-05-29T01:05:37Z","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":"115d6f335823971a3b525b1004a8dea467585c35f9d29fcb3d3586805dec2e98","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T05:59:53Z","title_canon_sha256":"abe13f2dbc41e5fe7e26fbf2c22591cb3d3823d6d4a942d7017f585f9e54818f"},"schema_version":"1.0","source":{"id":"2605.29407","kind":"arxiv","version":1}},"canonical_sha256":"05512060592b3e6fb6adcc0e7970357a9ac7a051f2774705b7b99a811d53da86","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"05512060592b3e6fb6adcc0e7970357a9ac7a051f2774705b7b99a811d53da86","first_computed_at":"2026-05-29T01:05:37.359711Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-29T01:05:37.359711Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Avx06AKc735CPKk99qTInijRcI9WeO2qUC6epLXpzBMzbJn19RNlF6NhR83QJe54xYfj4T1c/0JR2ZCsi1yaCg==","signature_status":"signed_v1","signed_at":"2026-05-29T01:05:37.360402Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.29407","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a1c6effbdafc76b64937369f51f9c45f91e286f68bece1ac7b1e3d474df33966","sha256:b8ab2eef6eb347cd59daa6540b61a6761a7a641fcec33e90f69afd252d3568ba"],"state_sha256":"71269fd7fae55da8bc3e4d4646ab403b9909231da9a0e4934adf892ccb34df0b"}