{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:JXNS6OPVDLNN2URBE5HVAYACBG","short_pith_number":"pith:JXNS6OPV","canonical_record":{"source":{"id":"2601.02295","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-05T17:31:01Z","cross_cats_sorted":[],"title_canon_sha256":"4aab11f115af720bf52bc68c83b68803f91969295edfd4a0596a920212a1648f","abstract_canon_sha256":"e1bb0975ab41530e08350b245143e7f694351360cf0d87ca5f7899cc4d2fc705"},"schema_version":"1.0"},"canonical_sha256":"4ddb2f39f51adadd5221274f50600209858cc4b2cb54e322290d32dc02584afd","source":{"kind":"arxiv","id":"2601.02295","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.02295","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"arxiv_version","alias_value":"2601.02295v2","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.02295","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_12","alias_value":"JXNS6OPVDLNN","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_16","alias_value":"JXNS6OPVDLNN2URB","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_8","alias_value":"JXNS6OPV","created_at":"2026-07-29T01:25:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:JXNS6OPVDLNN2URBE5HVAYACBG","target":"record","payload":{"canonical_record":{"source":{"id":"2601.02295","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-05T17:31:01Z","cross_cats_sorted":[],"title_canon_sha256":"4aab11f115af720bf52bc68c83b68803f91969295edfd4a0596a920212a1648f","abstract_canon_sha256":"e1bb0975ab41530e08350b245143e7f694351360cf0d87ca5f7899cc4d2fc705"},"schema_version":"1.0"},"canonical_sha256":"4ddb2f39f51adadd5221274f50600209858cc4b2cb54e322290d32dc02584afd","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-29T01:25:32.846300Z","signature_b64":"oX/6d1wDRWNgoRJvkJwhx/ZYP7MLVK8vgFAl9c6mzwGTN+I6l9REHGGJyqCKM9gZE69zZxIvl5aXRdNrQHsyCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4ddb2f39f51adadd5221274f50600209858cc4b2cb54e322290d32dc02584afd","last_reissued_at":"2026-07-29T01:25:32.845328Z","signature_status":"signed_v1","first_computed_at":"2026-07-29T01:25:32.845328Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2601.02295","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-29T01:25:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l3HcVzpQtERO1yFRvbWJfFJQ17CCPHhIC5LozjLtW9Iw+heh6At0dBb7qh+FIKpgWfjLaKVGN6UYvSq7/j0wBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T11:59:33.761098Z"},"content_sha256":"dbf3b73ffdea3815e4cfc061c892116bc1d5b4b81329246d89ec06a67fe4e012","schema_version":"1.0","event_id":"sha256:dbf3b73ffdea3815e4cfc061c892116bc1d5b4b81329246d89ec06a67fe4e012"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:JXNS6OPVDLNN2URBE5HVAYACBG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Andrew Markham, Bill Byrne, Chenyang Ma, Guangyu Yang, Ioannis Havoutis, Jiuming Liu, Kai Lu, Niki Trigoni, Shitong Xu","submitted_at":"2026-01-05T17:31:01Z","abstract_excerpt":"Current work on robot failure detection and correction typically operates in a post hoc manner, analyzing errors and applying corrections only after failures occur. This work introduces CycleVLA, a system that equips Vision-Language-Action models (VLAs) with proactive self-correction, the capability to anticipate incipient failures and recover before they fully manifest during execution. CycleVLA achieves this by integrating a progress-aware VLA that flags critical subtask transition points where failures most frequently occur, a VLM-based failure predictor and planner that triggers subtask ba"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.02295","kind":"arxiv","version":2},"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/2601.02295/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":"2026-07-29T01:25:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"h0eapvjseKBYB9lWdiZb6VhgOGKTTWUMc//8VNmGsUKlRgLG2IiR/IP5nkAyII4hgnR5ZVg8H792vqw4Up93DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-21T11:59:33.762100Z"},"content_sha256":"409b892c6fe478023bdffcad7e9277a502ff9854621ef8d1aabdeefd77fcc68b","schema_version":"1.0","event_id":"sha256:409b892c6fe478023bdffcad7e9277a502ff9854621ef8d1aabdeefd77fcc68b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JXNS6OPVDLNN2URBE5HVAYACBG/bundle.json","state_url":"https://pith.science/pith/JXNS6OPVDLNN2URBE5HVAYACBG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JXNS6OPVDLNN2URBE5HVAYACBG/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":"2026-08-21T11:59:33Z","links":{"resolver":"https://pith.science/pith/JXNS6OPVDLNN2URBE5HVAYACBG","bundle":"https://pith.science/pith/JXNS6OPVDLNN2URBE5HVAYACBG/bundle.json","state":"https://pith.science/pith/JXNS6OPVDLNN2URBE5HVAYACBG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JXNS6OPVDLNN2URBE5HVAYACBG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:JXNS6OPVDLNN2URBE5HVAYACBG","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":"e1bb0975ab41530e08350b245143e7f694351360cf0d87ca5f7899cc4d2fc705","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-05T17:31:01Z","title_canon_sha256":"4aab11f115af720bf52bc68c83b68803f91969295edfd4a0596a920212a1648f"},"schema_version":"1.0","source":{"id":"2601.02295","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2601.02295","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"arxiv_version","alias_value":"2601.02295v2","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2601.02295","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_12","alias_value":"JXNS6OPVDLNN","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_16","alias_value":"JXNS6OPVDLNN2URB","created_at":"2026-07-29T01:25:32Z"},{"alias_kind":"pith_short_8","alias_value":"JXNS6OPV","created_at":"2026-07-29T01:25:32Z"}],"graph_snapshots":[{"event_id":"sha256:409b892c6fe478023bdffcad7e9277a502ff9854621ef8d1aabdeefd77fcc68b","target":"graph","created_at":"2026-07-29T01:25:32Z","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/2601.02295/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Current work on robot failure detection and correction typically operates in a post hoc manner, analyzing errors and applying corrections only after failures occur. This work introduces CycleVLA, a system that equips Vision-Language-Action models (VLAs) with proactive self-correction, the capability to anticipate incipient failures and recover before they fully manifest during execution. CycleVLA achieves this by integrating a progress-aware VLA that flags critical subtask transition points where failures most frequently occur, a VLM-based failure predictor and planner that triggers subtask ba","authors_text":"Andrew Markham, Bill Byrne, Chenyang Ma, Guangyu Yang, Ioannis Havoutis, Jiuming Liu, Kai Lu, Niki Trigoni, Shitong Xu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-05T17:31:01Z","title":"CycleVLA: Proactive Self-Correcting Vision-Language-Action Models via Subtask Backtracking and Minimum Bayes Risk Decoding"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2601.02295","kind":"arxiv","version":2},"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:dbf3b73ffdea3815e4cfc061c892116bc1d5b4b81329246d89ec06a67fe4e012","target":"record","created_at":"2026-07-29T01:25:32Z","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":"e1bb0975ab41530e08350b245143e7f694351360cf0d87ca5f7899cc4d2fc705","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-01-05T17:31:01Z","title_canon_sha256":"4aab11f115af720bf52bc68c83b68803f91969295edfd4a0596a920212a1648f"},"schema_version":"1.0","source":{"id":"2601.02295","kind":"arxiv","version":2}},"canonical_sha256":"4ddb2f39f51adadd5221274f50600209858cc4b2cb54e322290d32dc02584afd","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4ddb2f39f51adadd5221274f50600209858cc4b2cb54e322290d32dc02584afd","first_computed_at":"2026-07-29T01:25:32.845328Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-29T01:25:32.845328Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oX/6d1wDRWNgoRJvkJwhx/ZYP7MLVK8vgFAl9c6mzwGTN+I6l9REHGGJyqCKM9gZE69zZxIvl5aXRdNrQHsyCQ==","signature_status":"signed_v1","signed_at":"2026-07-29T01:25:32.846300Z","signed_message":"canonical_sha256_bytes"},"source_id":"2601.02295","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:dbf3b73ffdea3815e4cfc061c892116bc1d5b4b81329246d89ec06a67fe4e012","sha256:409b892c6fe478023bdffcad7e9277a502ff9854621ef8d1aabdeefd77fcc68b"],"state_sha256":"9b5f1223592a11edb363764121767c135293d8aeec0c8be8233480525a3e2148"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"H+JoK/08EkpM0UUxklxjR1ocA0zji2+nfWFnUa4wBUSb1+eJPBBP4FFpZXW8L6fOx9vV/l0Z+i+zJAhAVqEZCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-21T11:59:33.769143Z","bundle_sha256":"8d39ff9b79e7b6356975b43cfd6b91e85c07a2a766cf65e6b9eace4bbedc45cf"}}