Pith Number

pith:EZ363MGL

pith:2026:EZ363MGLE45L4Y6G43WVIQRPWI

not attested not anchored not stored refs pending

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models

Changwen Zheng, Jingyao Wang, Peizheng Guo, Wenwen Qiang

arxiv:2605.19580 v1 · 2026-05-19 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EZ363MGLE45L4Y6G43WVIQRPWI}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

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.

Receipt and verification

First computed	2026-05-20T01:05:52.757510Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

2677edb0cb273abe63c6e6ed54422fb23d1e835a5b5c346c6a8238267f5c620e

Aliases

arxiv: 2605.19580 · arxiv_version: 2605.19580v1 · doi: 10.48550/arxiv.2605.19580 · pith_short_12: EZ363MGLE45L · pith_short_16: EZ363MGLE45L4Y6G · pith_short_8: EZ363MGL

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/EZ363MGLE45L4Y6G43WVIQRPWI \
  | 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: 2677edb0cb273abe63c6e6ed54422fb23d1e835a5b5c346c6a8238267f5c620e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "762ee689854947f87ca8c423268cf4fce86f9a2a4ee76175a8d17c6dd65c8a18",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-19T09:22:49Z",
    "title_canon_sha256": "f5be9d2c696a3abff3957c138890651a3c1cb60e06a554eef720e8f4eecf00f8"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.19580",
    "kind": "arxiv",
    "version": 1
  }
}