{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EZ363MGLE45L4Y6G43WVIQRPWI","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":"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}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.19580","created_at":"2026-05-20T01:05:52Z"},{"alias_kind":"arxiv_version","alias_value":"2605.19580v1","created_at":"2026-05-20T01:05:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.19580","created_at":"2026-05-20T01:05:52Z"},{"alias_kind":"pith_short_12","alias_value":"EZ363MGLE45L","created_at":"2026-05-20T01:05:52Z"},{"alias_kind":"pith_short_16","alias_value":"EZ363MGLE45L4Y6G","created_at":"2026-05-20T01:05:52Z"},{"alias_kind":"pith_short_8","alias_value":"EZ363MGL","created_at":"2026-05-20T01:05:52Z"}],"graph_snapshots":[{"event_id":"sha256:9accfad7c3427545d35716a64e6c232594a9a487a417ae50f9390e2676471ddb","target":"graph","created_at":"2026-05-20T01:05:52Z","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/2605.19580/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-Language-Action (VLA) models show promising ability in language-guided robotic tasks. However, making VLA policies reliable remains challenging, because a manipulation task is completed through closed-loop interaction, where each action affects subsequent execution. To analyze this problem, we revisit VLA policy during execution and argue that a VLA policy acts both as a planner, which makes task-oriented decisions that change the direction of execution, and as an executor, which realizes these decisions through dense continuous actions. This view suggests that improving VLA reliability","authors_text":"Changwen Zheng, Jingyao Wang, Peizheng Guo, Wenwen Qiang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T09:22:49Z","title":"PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19580","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:c6d7162c310ca40cdd58d78dbd85fc4ee7975e7a6d2a9425712036ec96257d91","target":"record","created_at":"2026-05-20T01:05:52Z","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":"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}},"canonical_sha256":"2677edb0cb273abe63c6e6ed54422fb23d1e835a5b5c346c6a8238267f5c620e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2677edb0cb273abe63c6e6ed54422fb23d1e835a5b5c346c6a8238267f5c620e","first_computed_at":"2026-05-20T01:05:52.757510Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T01:05:52.757510Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"nGf4j63ibzjPnxVrHIaxYDPtPmmlGbQNyEa1PXpnCGXaRAnXC7GPET6WGAuQxamgdSgOTM5P/jDJ8Emt4hjbDA==","signature_status":"signed_v1","signed_at":"2026-05-20T01:05:52.758123Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.19580","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6d7162c310ca40cdd58d78dbd85fc4ee7975e7a6d2a9425712036ec96257d91","sha256:9accfad7c3427545d35716a64e6c232594a9a487a417ae50f9390e2676471ddb"],"state_sha256":"467e23fb314ad24739e2a0323cd3d46339c27cc8119d20f567d481db42785e6e"}