{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:GLG3JQ7TN3M3C6WRPXHYXC4A5G","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":"822b66992bbd8d679e507a6ce12ef1c31e33e7747500742cf33137b9db03bf40","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T09:36:30Z","title_canon_sha256":"e06f7d96562683ddad3ad76861107bb9f399889eafa477a96fee1d4f9f0d922c"},"schema_version":"1.0","source":{"id":"2606.23090","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.23090","created_at":"2026-06-23T03:14:09Z"},{"alias_kind":"arxiv_version","alias_value":"2606.23090v1","created_at":"2026-06-23T03:14:09Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23090","created_at":"2026-06-23T03:14:09Z"},{"alias_kind":"pith_short_12","alias_value":"GLG3JQ7TN3M3","created_at":"2026-06-23T03:14:09Z"},{"alias_kind":"pith_short_16","alias_value":"GLG3JQ7TN3M3C6WR","created_at":"2026-06-23T03:14:09Z"},{"alias_kind":"pith_short_8","alias_value":"GLG3JQ7T","created_at":"2026-06-23T03:14:09Z"}],"graph_snapshots":[{"event_id":"sha256:a7e93144d1e8e2984397b18ef41dbf1254baae869f54f60ebeddc2b4c46db635","target":"graph","created_at":"2026-06-23T03:14:09Z","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/2606.23090/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Cross-embodiment data have become central to training robotic foundation models. To leverage such heterogeneous data, we focus on flow-based object manipulation, where robot flows (robot velocity fields) serve as embodiment-agnostic motion representations. Previous studies do not formulate robot flows as dense velocity fields, but as displacements of sparse keypoints, while such velocity fields better match the continuous-time nature of motions. We propose Flow as Flow, a framework that models robot flows as probability flows based on a flow matching formulation. By naturally modeling such vel","authors_text":"Daichi Yashima, Kento Tokura, Koki Seno, Komei Sugiura, Yusuke Takagi","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T09:36:30Z","title":"Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23090","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:b5040576f322aaf05695bd2960a3ffc93a3aecc40bf67812d950070ae21bff81","target":"record","created_at":"2026-06-23T03:14:09Z","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":"822b66992bbd8d679e507a6ce12ef1c31e33e7747500742cf33137b9db03bf40","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T09:36:30Z","title_canon_sha256":"e06f7d96562683ddad3ad76861107bb9f399889eafa477a96fee1d4f9f0d922c"},"schema_version":"1.0","source":{"id":"2606.23090","kind":"arxiv","version":1}},"canonical_sha256":"32cdb4c3f36ed9b17ad17dcf8b8b80e9a7cc9f7a187b2b7f997dc4b3bba17569","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"32cdb4c3f36ed9b17ad17dcf8b8b80e9a7cc9f7a187b2b7f997dc4b3bba17569","first_computed_at":"2026-06-23T03:14:09.566334Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-23T03:14:09.566334Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qoI/lmMTwM1qeJiBYY0ScvJ0uBN6vaWQDZzs4BLMlM//TSAAnpipG1XCMpH8ZhixfxOCd1wYbJVXbx/nUU1NBA==","signature_status":"signed_v1","signed_at":"2026-06-23T03:14:09.566691Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.23090","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b5040576f322aaf05695bd2960a3ffc93a3aecc40bf67812d950070ae21bff81","sha256:a7e93144d1e8e2984397b18ef41dbf1254baae869f54f60ebeddc2b4c46db635"],"state_sha256":"aee061058df782b98e5ff5de785f8aca8cf075289868778a7904a33a51bb507d"}