Pith Number

pith:OZB7D6Z7

pith:2026:OZB7D6Z7ZJ6PNUXYSWE7YX3BOQ

not attested not anchored not stored refs pending

CoLA-Flow Policy: Temporally Coherent Imitation Learning via Continuous Latent Action Flow Matching for Robotic Manipulation

Jiang Zhiduo, Liu Hong, Liu Yang, Sun Wandong, Wu Songwei, Xie Guanghu, Zhao Rui

Performing flow matching inside a continuous latent action space produces near-single-step inference and markedly smoother robotic trajectories than direct action-space methods.

arxiv:2601.23087 v4 · 2026-01-30 · cs.RO

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\usepackage{pith}
\pithnumber{OZB7D6Z7ZJ6PNUXYSWE7YX3BOQ}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

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

CoLA-Flow Policy achieves near-single-step inference, improves trajectory smoothness by up to 93.7% and task success by up to 25 percentage points over raw action-space flow baselines, while remaining significantly faster than diffusion-based policies.

C2weakest assumption

That mapping action sequences into a continuous latent space and learning an explicit latent flow will reliably separate global motion structure from low-level control noise across varied real-world conditions and sensor modalities.

C3one line summary

CoLA-Flow Policy encodes action sequences into latent trajectories and performs flow matching there, yielding near-single-step inference with up to 93.7% smoother trajectories and 25-point higher success rates than raw-action flow baselines.

Formal links

3 machine-checked theorem links

Receipt and verification

First computed	2026-05-20T00:04:23.904173Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

7643f1fb3fca7cf6d2f89589fc5f61742d979611e538d806aaa30d488643d484

Aliases

arxiv: 2601.23087 · arxiv_version: 2601.23087v4 · doi: 10.48550/arxiv.2601.23087 · pith_short_12: OZB7D6Z7ZJ6P · pith_short_16: OZB7D6Z7ZJ6PNUXY · pith_short_8: OZB7D6Z7

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/OZB7D6Z7ZJ6PNUXYSWE7YX3BOQ \
  | 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: 7643f1fb3fca7cf6d2f89589fc5f61742d979611e538d806aaa30d488643d484

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9e14f6549dec4a4a7f90a6315997159984303265202a65c6d40d065b602d4e17",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-01-30T15:36:43Z",
    "title_canon_sha256": "75666717ccb8cd8ac498d0327249efa5c4b4a08cdaf6d2003864f8edc4f9bb3c"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2601.23087",
    "kind": "arxiv",
    "version": 4
  }
}