{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FGZL7UENSB5O6OA3GWXWNMU73N","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":"f1dd15718f578507cb79d6649bfec9762272ee0c92ccb380dfcdf8390935db0b","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-12T10:58:06Z","title_canon_sha256":"872a294a9991554376322d0550251551ef2d9499c4591a4f52c5972ed82eedd8"},"schema_version":"1.0","source":{"id":"2607.10706","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.10706","created_at":"2026-07-14T01:21:35Z"},{"alias_kind":"arxiv_version","alias_value":"2607.10706v1","created_at":"2026-07-14T01:21:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.10706","created_at":"2026-07-14T01:21:35Z"},{"alias_kind":"pith_short_12","alias_value":"FGZL7UENSB5O","created_at":"2026-07-14T01:21:35Z"},{"alias_kind":"pith_short_16","alias_value":"FGZL7UENSB5O6OA3","created_at":"2026-07-14T01:21:35Z"},{"alias_kind":"pith_short_8","alias_value":"FGZL7UEN","created_at":"2026-07-14T01:21:35Z"}],"graph_snapshots":[{"event_id":"sha256:4983c3a3e643e056cad99fef0a35cad5b3fbd4a3b8c99e1dc50aa48e465992c4","target":"graph","created_at":"2026-07-14T01:21:35Z","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/2607.10706/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The action space poses a major challenge in robot learning, since it is often high-dimensional, can span long time horizons, and frequently admits multi-modal optimal solutions. A good choice of action representation and loss function can help to address these concerns, but there are often trade offs. We propose Action Map Policy (AMP), which casts 3D closed-loop manipulation policy learning as a classification problem in image space. While classification has been an effective formulation in generative language models, applying it to robot action learning is difficult because naively discretiz","authors_text":"Ahmed Agha, Boce Hu, Dian Wang, Haojie Huang, Linfeng Zhao, Mingxi Jia, Robert Platt, Robin Walters, Yu Qi, Zhang Ye","cross_cats":["cs.AI","cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-12T10:58:06Z","title":"Action Map Policy: Learning 3D Closed-loop Manipulation via Pixel Classification"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.10706","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":"sha256:140afbf898caeed5954b53fdf8629c149fa4618dba04a4ebc09d925f6f0d7d4f","target":"record","created_at":"2026-07-14T01:21:35Z","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":"f1dd15718f578507cb79d6649bfec9762272ee0c92ccb380dfcdf8390935db0b","cross_cats_sorted":["cs.AI","cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-12T10:58:06Z","title_canon_sha256":"872a294a9991554376322d0550251551ef2d9499c4591a4f52c5972ed82eedd8"},"schema_version":"1.0","source":{"id":"2607.10706","kind":"arxiv","version":1}},"canonical_sha256":"29b2bfd08d907aef381b35af66b29fdb5c716c8e811144a5a894ec7b3c3a5f2c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"29b2bfd08d907aef381b35af66b29fdb5c716c8e811144a5a894ec7b3c3a5f2c","first_computed_at":"2026-07-14T01:21:35.573867Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-14T01:21:35.573867Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"12VJKvvq8hsK7wxCGfAFOQ3Oacn70UjjSd6xPQhFkNx0tdL6fycpUOfgzler3RknHCHKxnJS+RlJvmEGoqJ1AQ==","signature_status":"signed_v1","signed_at":"2026-07-14T01:21:35.574647Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.10706","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:140afbf898caeed5954b53fdf8629c149fa4618dba04a4ebc09d925f6f0d7d4f","sha256:4983c3a3e643e056cad99fef0a35cad5b3fbd4a3b8c99e1dc50aa48e465992c4"],"state_sha256":"e303507cd734c376397383c87b159379ba29e4a9bf22ce2313ff56ccd28a3ae8"}