Pith Number

pith:OVCLD7AM

pith:2026:OVCLD7AM4MKN744X3HYVA5UV4S

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VILAS: A VLA-Integrated Low-cost Architecture with Soft Grasping for Robotic Manipulation

Bill Cai, Hadi Khezam, Lifeng Zhou, Ran Yang, Shijie Geng, Yiming Feng, Yue Zheng, Zijian An

Low-cost modular robots with a kirigami soft gripper can train and run vision-language-action policies for delicate grasping.

arxiv:2605.02037 v2 · 2026-05-03 · cs.RO · cs.AI

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experiments on a grape grasping task validate the effectiveness of the proposed system, confirming that capable manipulation policies can be successfully trained and deployed on low-cost modular hardware.

C2weakest assumption

That the kirigami-based soft compliant gripper extension induces predictable deformation under compressive loading to provide gentle and repeatable contact with delicate targets without explicit force sensing, and that the collected teleoperation data is sufficient to fine-tune the VLA models effectively.

C3one line summary

VILAS is a low-cost modular robotic platform with a kirigami soft gripper that enables fine-tuning and real-world deployment of VLA models for safe delicate-object manipulation.

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-26T01:02:34.626067Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7544b1fc0ce314dff397d9f1507695e4811ed0a9403b12dec65a272c123d149a

Aliases

arxiv: 2605.02037 · arxiv_version: 2605.02037v2 · doi: 10.48550/arxiv.2605.02037 · pith_short_12: OVCLD7AM4MKN · pith_short_16: OVCLD7AM4MKN744X · pith_short_8: OVCLD7AM

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/OVCLD7AM4MKN744X3HYVA5UV4S \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 7544b1fc0ce314dff397d9f1507695e4811ed0a9403b12dec65a272c123d149a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1b3462a8ea34f06712e04778b94dc9c09e11159b0de5c1425d5559078d6c4918",
    "cross_cats_sorted": [
      "cs.AI"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-03T20:04:42Z",
    "title_canon_sha256": "0ed8d3a3c338ff7ca07512d0e5a94d915197dd38bc93771281366db978e5dab1"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.02037",
    "kind": "arxiv",
    "version": 2
  }
}