{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:FMCY7FHYVQAQABZHCLSULCLNNS","short_pith_number":"pith:FMCY7FHY","canonical_record":{"source":{"id":"2502.01828","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-03T21:11:02Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"ff375ba982a89d3af1b0c67098249357432f095338affa86bf4c486e286d3ae1","abstract_canon_sha256":"0fbc5005a93009051f6d4caab2ee691bf5494f0b7f5f5a7de550de63a7d38afe"},"schema_version":"1.0"},"canonical_sha256":"2b058f94f8ac0100072712e545896d6c9c4fc9e6e30f538eac405e037ebdec00","source":{"kind":"arxiv","id":"2502.01828","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.01828","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"arxiv_version","alias_value":"2502.01828v3","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.01828","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_12","alias_value":"FMCY7FHYVQAQ","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_16","alias_value":"FMCY7FHYVQAQABZH","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_8","alias_value":"FMCY7FHY","created_at":"2026-07-05T10:57:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:FMCY7FHYVQAQABZHCLSULCLNNS","target":"record","payload":{"canonical_record":{"source":{"id":"2502.01828","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-03T21:11:02Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"ff375ba982a89d3af1b0c67098249357432f095338affa86bf4c486e286d3ae1","abstract_canon_sha256":"0fbc5005a93009051f6d4caab2ee691bf5494f0b7f5f5a7de550de63a7d38afe"},"schema_version":"1.0"},"canonical_sha256":"2b058f94f8ac0100072712e545896d6c9c4fc9e6e30f538eac405e037ebdec00","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:57:33.400501Z","signature_b64":"Cagp1v/UKwKnB/s572ihUfZH6WCj9zi4p330kfR4Di6fUKFvlyKXyPoUST2OjgjTEiMw1akwh6Hcr3BHt7+yAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2b058f94f8ac0100072712e545896d6c9c4fc9e6e30f538eac405e037ebdec00","last_reissued_at":"2026-07-05T10:57:33.400003Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:57:33.400003Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2502.01828","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T10:57:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bzfuV7FbM7M/u770Yw7s8+H1h6b0G9ixjBNtdcOhNgkdZhpwtzZYYXz5gOmlb5xbpSp54lHtnoaMdP42A6KPDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T06:14:35.734320Z"},"content_sha256":"99eff489c11e6d86a593128633c19489c9acd9ff3aede9d1e533a685bf9d86e9","schema_version":"1.0","event_id":"sha256:99eff489c11e6d86a593128633c19489c9acd9ff3aede9d1e533a685bf9d86e9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:FMCY7FHYVQAQABZHCLSULCLNNS","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Andrea Bajcsy, Gokul Swamy, Ran Tian, Yilin Wu","submitted_at":"2025-02-03T21:11:02Z","abstract_excerpt":"While generative robot policies have demonstrated significant potential in learning complex, multimodal behaviors from demonstrations, they still exhibit diverse failures at deployment-time. Policy steering offers an elegant solution to reducing the chance of failure by using an external verifier to select from low-level actions proposed by an imperfect generative policy. Here, one might hope to use a Vision Language Model (VLM) as a verifier, leveraging its open-world reasoning capabilities. However, off-the-shelf VLMs struggle to understand the consequences of low-level robot actions as they"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.01828","kind":"arxiv","version":3},"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/2502.01828/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":"2026-07-05T10:57:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1k01CboH78Fw80lb++Vy7efz1BjruFBDI1wYWNUy/KDOIP+1BnT7G2bXgQ/0N7/66KWAFBaUMynprJIXEYwrDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T06:14:35.734627Z"},"content_sha256":"d0ba467f765d6cb70153c4097f71ba9a531df6e1c08a9d8c6b0e45e65bd680d2","schema_version":"1.0","event_id":"sha256:d0ba467f765d6cb70153c4097f71ba9a531df6e1c08a9d8c6b0e45e65bd680d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FMCY7FHYVQAQABZHCLSULCLNNS/bundle.json","state_url":"https://pith.science/pith/FMCY7FHYVQAQABZHCLSULCLNNS/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FMCY7FHYVQAQABZHCLSULCLNNS/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":"2026-08-05T06:14:35Z","links":{"resolver":"https://pith.science/pith/FMCY7FHYVQAQABZHCLSULCLNNS","bundle":"https://pith.science/pith/FMCY7FHYVQAQABZHCLSULCLNNS/bundle.json","state":"https://pith.science/pith/FMCY7FHYVQAQABZHCLSULCLNNS/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FMCY7FHYVQAQABZHCLSULCLNNS/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FMCY7FHYVQAQABZHCLSULCLNNS","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":"0fbc5005a93009051f6d4caab2ee691bf5494f0b7f5f5a7de550de63a7d38afe","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-03T21:11:02Z","title_canon_sha256":"ff375ba982a89d3af1b0c67098249357432f095338affa86bf4c486e286d3ae1"},"schema_version":"1.0","source":{"id":"2502.01828","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2502.01828","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"arxiv_version","alias_value":"2502.01828v3","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2502.01828","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_12","alias_value":"FMCY7FHYVQAQ","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_16","alias_value":"FMCY7FHYVQAQABZH","created_at":"2026-07-05T10:57:33Z"},{"alias_kind":"pith_short_8","alias_value":"FMCY7FHY","created_at":"2026-07-05T10:57:33Z"}],"graph_snapshots":[{"event_id":"sha256:d0ba467f765d6cb70153c4097f71ba9a531df6e1c08a9d8c6b0e45e65bd680d2","target":"graph","created_at":"2026-07-05T10:57:33Z","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/2502.01828/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"While generative robot policies have demonstrated significant potential in learning complex, multimodal behaviors from demonstrations, they still exhibit diverse failures at deployment-time. Policy steering offers an elegant solution to reducing the chance of failure by using an external verifier to select from low-level actions proposed by an imperfect generative policy. Here, one might hope to use a Vision Language Model (VLM) as a verifier, leveraging its open-world reasoning capabilities. However, off-the-shelf VLMs struggle to understand the consequences of low-level robot actions as they","authors_text":"Andrea Bajcsy, Gokul Swamy, Ran Tian, Yilin Wu","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-03T21:11:02Z","title":"From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2502.01828","kind":"arxiv","version":3},"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":"sha256:99eff489c11e6d86a593128633c19489c9acd9ff3aede9d1e533a685bf9d86e9","target":"record","created_at":"2026-07-05T10:57:33Z","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":"0fbc5005a93009051f6d4caab2ee691bf5494f0b7f5f5a7de550de63a7d38afe","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-02-03T21:11:02Z","title_canon_sha256":"ff375ba982a89d3af1b0c67098249357432f095338affa86bf4c486e286d3ae1"},"schema_version":"1.0","source":{"id":"2502.01828","kind":"arxiv","version":3}},"canonical_sha256":"2b058f94f8ac0100072712e545896d6c9c4fc9e6e30f538eac405e037ebdec00","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2b058f94f8ac0100072712e545896d6c9c4fc9e6e30f538eac405e037ebdec00","first_computed_at":"2026-07-05T10:57:33.400003Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:57:33.400003Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Cagp1v/UKwKnB/s572ihUfZH6WCj9zi4p330kfR4Di6fUKFvlyKXyPoUST2OjgjTEiMw1akwh6Hcr3BHt7+yAg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:57:33.400501Z","signed_message":"canonical_sha256_bytes"},"source_id":"2502.01828","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:99eff489c11e6d86a593128633c19489c9acd9ff3aede9d1e533a685bf9d86e9","sha256:d0ba467f765d6cb70153c4097f71ba9a531df6e1c08a9d8c6b0e45e65bd680d2"],"state_sha256":"d3a0843eef4212d177fccc3bc6d5aaa42eb751521c7c7eba462ea3c64be380e8"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MNC9iZ0sFGIAh7J2+hlwgiKF3lRQFlbNq+AChZFQlFq5CpENm44G1L33uFhdnxHhFcNc9NEB1czZI8zk31CvAg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T06:14:35.737183Z","bundle_sha256":"9515ff2317d759cb42cd7dc75d7c579341ad3f19dc508fbb29ee20c1b5256949"}}