{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:EHOEEKIAM4THYBFDFDDFNWC2GF","short_pith_number":"pith:EHOEEKIA","canonical_record":{"source":{"id":"2602.12978","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T14:56:06Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"b0d82651be0c76a2bb6ef9f34503ed5a877052bc4a48d98d6b68f24ddb0b058f","abstract_canon_sha256":"d2193789a1e9def507cdbea3e1b166249ed8ef9f2da2afa2181323d98e60395d"},"schema_version":"1.0"},"canonical_sha256":"21dc42290067267c04a328c656d85a317640228a51cab332882694d5e085aa30","source":{"kind":"arxiv","id":"2602.12978","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.12978","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"arxiv_version","alias_value":"2602.12978v2","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.12978","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_12","alias_value":"EHOEEKIAM4TH","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_16","alias_value":"EHOEEKIAM4THYBFD","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_8","alias_value":"EHOEEKIA","created_at":"2026-05-20T00:04:25Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:EHOEEKIAM4THYBFDFDDFNWC2GF","target":"record","payload":{"canonical_record":{"source":{"id":"2602.12978","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T14:56:06Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"b0d82651be0c76a2bb6ef9f34503ed5a877052bc4a48d98d6b68f24ddb0b058f","abstract_canon_sha256":"d2193789a1e9def507cdbea3e1b166249ed8ef9f2da2afa2181323d98e60395d"},"schema_version":"1.0"},"canonical_sha256":"21dc42290067267c04a328c656d85a317640228a51cab332882694d5e085aa30","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:04:25.669759Z","signature_b64":"BYmqZdmUBsJGzTCp4TVKmcJ/fID0fS3Y4FLit6BOf/PScIXR9ZqYUY/ADoDbTN7UGTNVEnhr/+soWiXbAt/BBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"21dc42290067267c04a328c656d85a317640228a51cab332882694d5e085aa30","last_reissued_at":"2026-05-20T00:04:25.668763Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:04:25.668763Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2602.12978","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-20T00:04:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dc3Uz5thimtg8IJKC8mPbsHfuDa0JZX0TfPElCrkeIYYNRNZqS+LfUfiVUj71bAiGZiCFiZz9/QcbwdUrhzuDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-22T20:53:25.875456Z"},"content_sha256":"45daa163bed23c8b1a5bb45742df017e7adb2991315e5f1264633ad9c1c40abb","schema_version":"1.0","event_id":"sha256:45daa163bed23c8b1a5bb45742df017e7adb2991315e5f1264633ad9c1c40abb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:EHOEEKIAM4THYBFDFDDFNWC2GF","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Native Continuation for Action Chunking Flow Policies","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bocheng Li, Dequan Wang, Di Zhang, Hang Yu, Junliang Guo, Juntu Zhao, Junyuan Xie, Mingzhu Li, Wenxuan Wu, Yang Gao, Yingdong Hu, Yufeng Liu","submitted_at":"2026-02-13T14:56:06Z","abstract_excerpt":"Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking (RTC) alleviates this issue but is external to the policy, leading to spurious multimodal switching and trajectories that are not intrinsically smooth. We propose Legato, a training-time continuation method for action-chunked flow-based VLA policies. Specifically, Legato initializes denoising from a schedule-shaped mixture of known actions and noise, exposing the model to partial action information. Moreover, Legato "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.12978","kind":"arxiv","version":2},"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/2602.12978/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":"2026-05-20T00:04:25Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z7UzU/SkG9kvZyzUdtiqyLtNnYtpCGh1CUcGDL3Gus9jQ/LaDOgFYgGrP86r8tNdWLnS92gOpFt/+V0xcmFHDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-22T20:53:25.876076Z"},"content_sha256":"4e99144dc6fcbf1a6d8ce2720703d5a8c47e9dc1f459159123f1d1314d1ed60b","schema_version":"1.0","event_id":"sha256:4e99144dc6fcbf1a6d8ce2720703d5a8c47e9dc1f459159123f1d1314d1ed60b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/bundle.json","state_url":"https://pith.science/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/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":"2026-05-22T20:53:25Z","links":{"resolver":"https://pith.science/pith/EHOEEKIAM4THYBFDFDDFNWC2GF","bundle":"https://pith.science/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/bundle.json","state":"https://pith.science/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EHOEEKIAM4THYBFDFDDFNWC2GF/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EHOEEKIAM4THYBFDFDDFNWC2GF","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":"d2193789a1e9def507cdbea3e1b166249ed8ef9f2da2afa2181323d98e60395d","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T14:56:06Z","title_canon_sha256":"b0d82651be0c76a2bb6ef9f34503ed5a877052bc4a48d98d6b68f24ddb0b058f"},"schema_version":"1.0","source":{"id":"2602.12978","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.12978","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"arxiv_version","alias_value":"2602.12978v2","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.12978","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_12","alias_value":"EHOEEKIAM4TH","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_16","alias_value":"EHOEEKIAM4THYBFD","created_at":"2026-05-20T00:04:25Z"},{"alias_kind":"pith_short_8","alias_value":"EHOEEKIA","created_at":"2026-05-20T00:04:25Z"}],"graph_snapshots":[{"event_id":"sha256:4e99144dc6fcbf1a6d8ce2720703d5a8c47e9dc1f459159123f1d1314d1ed60b","target":"graph","created_at":"2026-05-20T00:04:25Z","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/2602.12978/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking (RTC) alleviates this issue but is external to the policy, leading to spurious multimodal switching and trajectories that are not intrinsically smooth. We propose Legato, a training-time continuation method for action-chunked flow-based VLA policies. Specifically, Legato initializes denoising from a schedule-shaped mixture of known actions and noise, exposing the model to partial action information. Moreover, Legato ","authors_text":"Bocheng Li, Dequan Wang, Di Zhang, Hang Yu, Junliang Guo, Juntu Zhao, Junyuan Xie, Mingzhu Li, Wenxuan Wu, Yang Gao, Yingdong Hu, Yufeng Liu","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T14:56:06Z","title":"Learning Native Continuation for Action Chunking Flow Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.12978","kind":"arxiv","version":2},"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":"sha256:45daa163bed23c8b1a5bb45742df017e7adb2991315e5f1264633ad9c1c40abb","target":"record","created_at":"2026-05-20T00:04:25Z","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":"d2193789a1e9def507cdbea3e1b166249ed8ef9f2da2afa2181323d98e60395d","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-13T14:56:06Z","title_canon_sha256":"b0d82651be0c76a2bb6ef9f34503ed5a877052bc4a48d98d6b68f24ddb0b058f"},"schema_version":"1.0","source":{"id":"2602.12978","kind":"arxiv","version":2}},"canonical_sha256":"21dc42290067267c04a328c656d85a317640228a51cab332882694d5e085aa30","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"21dc42290067267c04a328c656d85a317640228a51cab332882694d5e085aa30","first_computed_at":"2026-05-20T00:04:25.668763Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:04:25.668763Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BYmqZdmUBsJGzTCp4TVKmcJ/fID0fS3Y4FLit6BOf/PScIXR9ZqYUY/ADoDbTN7UGTNVEnhr/+soWiXbAt/BBA==","signature_status":"signed_v1","signed_at":"2026-05-20T00:04:25.669759Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.12978","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:45daa163bed23c8b1a5bb45742df017e7adb2991315e5f1264633ad9c1c40abb","sha256:4e99144dc6fcbf1a6d8ce2720703d5a8c47e9dc1f459159123f1d1314d1ed60b"],"state_sha256":"3af75fed3be880270d9474e55089a6df740ec166be877c32c3e1700cdbef881d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JSlJcSZ8NHpVHkuqRWGZsKAEspkFqP0YYkgTYdb3ogPCN6kJ17ch/Kt2Dg2kYclkBu2OxtmNYyUc2aa5rW15Dw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-22T20:53:25.878884Z","bundle_sha256":"1545e4bcce0929f740e8498516e08151eb450b7d0c1fb8c0cd2a60aa0cf071ae"}}