{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:NQJHXNCRFDG3EWTFSOKGNDSKT6","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":"30a8c96b650da7fd85ed4fac6ad30e79b00f16ad90c624b17257d10060d02def","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T15:21:39Z","title_canon_sha256":"cf71cc5c0df3f6950442e16430137cdce88031ae7e27e11b503909e55fa4ca4d"},"schema_version":"1.0","source":{"id":"2605.16056","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.16056","created_at":"2026-05-20T00:01:50Z"},{"alias_kind":"arxiv_version","alias_value":"2605.16056v1","created_at":"2026-05-20T00:01:50Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.16056","created_at":"2026-05-20T00:01:50Z"},{"alias_kind":"pith_short_12","alias_value":"NQJHXNCRFDG3","created_at":"2026-05-20T00:01:50Z"},{"alias_kind":"pith_short_16","alias_value":"NQJHXNCRFDG3EWTF","created_at":"2026-05-20T00:01:50Z"},{"alias_kind":"pith_short_8","alias_value":"NQJHXNCR","created_at":"2026-05-20T00:01:50Z"}],"graph_snapshots":[{"event_id":"sha256:cd01698ddc8f724183e2410645c8402b3764eed150df876651ab07dbcd48fbbd","target":"graph","created_at":"2026-05-20T00:01:50Z","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":[{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:41.552046Z","status":"skipped","version":"1.0.0"},{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T16:41:55.524573Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.16056/integrity.json","findings":[],"snapshot_sha256":"28793cfee81d587bb10f985bc72be7a038b00bcce1bad3da7629f02cdd9dd2e7","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Research on Vision Language Action (VLA) models has been increasing rapidly in recent years. Although some of them focus on detecting, preventing, and recovering from task failures, they usually don't deal with adapting to robot's physical failures. In real-life scenarios, most robots face physical degradations in various ways such as joint degradation, actuator failure, or weak gripper. We introduce malfunction-aware (health-conditioned) VLA that takes a health vector as an input that gives information about robots' joints' operation angle and torque capability, and adapts its predictions to ","authors_text":"H\\\"useyin Arslan, \\\"Ozg\\\"ur Erkent","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T15:21:39Z","title":"Health-Conditioned Vision-Language-Action Models for Malfunction-Aware Robot Control"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16056","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":"sha256:6c181b0a487e614ef9a2d3fa37fcfe8c7b59aca63489f89e908865d235facbbc","target":"record","created_at":"2026-05-20T00:01:50Z","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":"30a8c96b650da7fd85ed4fac6ad30e79b00f16ad90c624b17257d10060d02def","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T15:21:39Z","title_canon_sha256":"cf71cc5c0df3f6950442e16430137cdce88031ae7e27e11b503909e55fa4ca4d"},"schema_version":"1.0","source":{"id":"2605.16056","kind":"arxiv","version":1}},"canonical_sha256":"6c127bb45128cdb25a659394668e4a9fb67c2350eb45c284c5cae2772b1e9805","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6c127bb45128cdb25a659394668e4a9fb67c2350eb45c284c5cae2772b1e9805","first_computed_at":"2026-05-20T00:01:50.916412Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:01:50.916412Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7KgyoXjq67ut2ADqFCxKTWOMx7ACw5uVSrtZ1SB75AjRULHjdviHSSkYU4QDM59RCYOVbL/2o9sVReLMzJrBAw==","signature_status":"signed_v1","signed_at":"2026-05-20T00:01:50.917168Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.16056","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6c181b0a487e614ef9a2d3fa37fcfe8c7b59aca63489f89e908865d235facbbc","sha256:cd01698ddc8f724183e2410645c8402b3764eed150df876651ab07dbcd48fbbd"],"state_sha256":"681bfc20b781846182e3d275422b7cf83b81ab1a03ae3e4ac1a7f2e538dc7978"}