{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:MIQKA47NUSNN5NOTYJTEMBF5TC","short_pith_number":"pith:MIQKA47N","canonical_record":{"source":{"id":"2606.24884","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T17:59:01Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"72b4a8010bc51861a706b6ef65f4eafbabd3e812ac0302a4d94e1500d62ddc6a","abstract_canon_sha256":"1743797c0bf0b815763c9b8f475d8858212337a62552d97ec07be11337b23a22"},"schema_version":"1.0"},"canonical_sha256":"6220a073eda49adeb5d3c2664604bd9888e36ffb535800d01cdf92d9287d621d","source":{"kind":"arxiv","id":"2606.24884","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24884","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24884v1","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24884","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_12","alias_value":"MIQKA47NUSNN","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_16","alias_value":"MIQKA47NUSNN5NOT","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_8","alias_value":"MIQKA47N","created_at":"2026-06-24T01:15:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:MIQKA47NUSNN5NOTYJTEMBF5TC","target":"record","payload":{"canonical_record":{"source":{"id":"2606.24884","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T17:59:01Z","cross_cats_sorted":["cs.AI","cs.LG"],"title_canon_sha256":"72b4a8010bc51861a706b6ef65f4eafbabd3e812ac0302a4d94e1500d62ddc6a","abstract_canon_sha256":"1743797c0bf0b815763c9b8f475d8858212337a62552d97ec07be11337b23a22"},"schema_version":"1.0"},"canonical_sha256":"6220a073eda49adeb5d3c2664604bd9888e36ffb535800d01cdf92d9287d621d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-24T01:15:45.383533Z","signature_b64":"vdPShil2F1tEAaxBEHaf98D0AuX+BHdau8WHZ2t/4rb+F7SM2t58LcGRRd3tZkseWtsWVkgX8rx5qcXpq2cCBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6220a073eda49adeb5d3c2664604bd9888e36ffb535800d01cdf92d9287d621d","last_reissued_at":"2026-06-24T01:15:45.383137Z","signature_status":"signed_v1","first_computed_at":"2026-06-24T01:15:45.383137Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.24884","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-24T01:15:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"T1ouYpaNlUSietokzWHfbIxHGfOlqLyzOgRyPsQatfN+U0HXbp2ZnQtD8sHQxqIf0bJ5jWdbT6WQ/h0SgQVJAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T12:53:29.809759Z"},"content_sha256":"ac1c0a16916b1978f2644635b6e516a2d16e42b380a0069f98052f014b36464c","schema_version":"1.0","event_id":"sha256:ac1c0a16916b1978f2644635b6e516a2d16e42b380a0069f98052f014b36464c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:MIQKA47NUSNN5NOTYJTEMBF5TC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"InSight: Self-Guided Skill Acquisition via Steerable VLAs","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG"],"primary_cat":"cs.RO","authors_text":"Jiajun Wu, Lars Osterberg, Mac Schwager, Maggie Wang, Ola Shorinwa, Stephen Tian","submitted_at":"2026-06-23T17:59:01Z","abstract_excerpt":"Vision-language-action (VLA) models can learn manipulation skills from demonstrations, but their capabilities are bounded by the skills in the training data. We present InSight, a framework that unlocks autonomous skill acquisition by rendering VLAs steerable at the primitive-action level (e.g., \"move gripper to the bowl\", \"lift upward\", \"pour the bottle\"). InSight consists of two primary stages: (1) an automated segmentation pipeline that partitions demonstrations into labeled primitives via VLM plan decomposition and end-effector poses to enable VLA primitive steerability, and (2) a VLM-guid"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24884","kind":"arxiv","version":1},"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/2606.24884/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":"2026-06-24T01:15:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0WoyJ17DByh02PfiUVTNfFvieWfFFb7vnXlVtjwYCSzwNvJHyH3IjTK63v2PJ/b1tx7tWGr59Cg+2UpKIOm/Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T12:53:29.810134Z"},"content_sha256":"afec957ea6884fa1cd6a186094f31f9a6946595981ae283a3fc0949cde3bc498","schema_version":"1.0","event_id":"sha256:afec957ea6884fa1cd6a186094f31f9a6946595981ae283a3fc0949cde3bc498"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/bundle.json","state_url":"https://pith.science/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/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":"2026-07-02T12:53:29Z","links":{"resolver":"https://pith.science/pith/MIQKA47NUSNN5NOTYJTEMBF5TC","bundle":"https://pith.science/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/bundle.json","state":"https://pith.science/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MIQKA47NUSNN5NOTYJTEMBF5TC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MIQKA47NUSNN5NOTYJTEMBF5TC","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":"1743797c0bf0b815763c9b8f475d8858212337a62552d97ec07be11337b23a22","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T17:59:01Z","title_canon_sha256":"72b4a8010bc51861a706b6ef65f4eafbabd3e812ac0302a4d94e1500d62ddc6a"},"schema_version":"1.0","source":{"id":"2606.24884","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.24884","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"arxiv_version","alias_value":"2606.24884v1","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.24884","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_12","alias_value":"MIQKA47NUSNN","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_16","alias_value":"MIQKA47NUSNN5NOT","created_at":"2026-06-24T01:15:45Z"},{"alias_kind":"pith_short_8","alias_value":"MIQKA47N","created_at":"2026-06-24T01:15:45Z"}],"graph_snapshots":[{"event_id":"sha256:afec957ea6884fa1cd6a186094f31f9a6946595981ae283a3fc0949cde3bc498","target":"graph","created_at":"2026-06-24T01:15:45Z","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/2606.24884/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-language-action (VLA) models can learn manipulation skills from demonstrations, but their capabilities are bounded by the skills in the training data. We present InSight, a framework that unlocks autonomous skill acquisition by rendering VLAs steerable at the primitive-action level (e.g., \"move gripper to the bowl\", \"lift upward\", \"pour the bottle\"). InSight consists of two primary stages: (1) an automated segmentation pipeline that partitions demonstrations into labeled primitives via VLM plan decomposition and end-effector poses to enable VLA primitive steerability, and (2) a VLM-guid","authors_text":"Jiajun Wu, Lars Osterberg, Mac Schwager, Maggie Wang, Ola Shorinwa, Stephen Tian","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T17:59:01Z","title":"InSight: Self-Guided Skill Acquisition via Steerable VLAs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.24884","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:ac1c0a16916b1978f2644635b6e516a2d16e42b380a0069f98052f014b36464c","target":"record","created_at":"2026-06-24T01:15:45Z","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":"1743797c0bf0b815763c9b8f475d8858212337a62552d97ec07be11337b23a22","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-23T17:59:01Z","title_canon_sha256":"72b4a8010bc51861a706b6ef65f4eafbabd3e812ac0302a4d94e1500d62ddc6a"},"schema_version":"1.0","source":{"id":"2606.24884","kind":"arxiv","version":1}},"canonical_sha256":"6220a073eda49adeb5d3c2664604bd9888e36ffb535800d01cdf92d9287d621d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6220a073eda49adeb5d3c2664604bd9888e36ffb535800d01cdf92d9287d621d","first_computed_at":"2026-06-24T01:15:45.383137Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-24T01:15:45.383137Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vdPShil2F1tEAaxBEHaf98D0AuX+BHdau8WHZ2t/4rb+F7SM2t58LcGRRd3tZkseWtsWVkgX8rx5qcXpq2cCBg==","signature_status":"signed_v1","signed_at":"2026-06-24T01:15:45.383533Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.24884","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ac1c0a16916b1978f2644635b6e516a2d16e42b380a0069f98052f014b36464c","sha256:afec957ea6884fa1cd6a186094f31f9a6946595981ae283a3fc0949cde3bc498"],"state_sha256":"e06515c46eddeb7b4d8df910f5f89bd8936975f71dbf560ca6789cf831fc4404"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/Iq3BQVqwv1fpYq2kTAmvb+zJDv/4QwoVf7vXVYyJBesdCTL9YNBkdkQHjVYRtODAYe7HMiwF/EUAHaeNiNWDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T12:53:29.812152Z","bundle_sha256":"b59aca42331238d3ce6d77e042470aa62aa3781c2249eb9f1b5afe07015dd4f5"}}