{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:PES7PQX5QWKE2FW736LLSFK2N7","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":"f894b68c853281e407a297cd5feb3b87542eb5a7ccb8684a99ccdf2e30033b57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T11:12:30Z","title_canon_sha256":"009fa6394daabc7e066614cd239c3c749ef00691ed11014e8e2f0653209cd7eb"},"schema_version":"1.0","source":{"id":"2605.29766","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.29766","created_at":"2026-05-29T02:05:25Z"},{"alias_kind":"arxiv_version","alias_value":"2605.29766v1","created_at":"2026-05-29T02:05:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.29766","created_at":"2026-05-29T02:05:25Z"},{"alias_kind":"pith_short_12","alias_value":"PES7PQX5QWKE","created_at":"2026-05-29T02:05:25Z"},{"alias_kind":"pith_short_16","alias_value":"PES7PQX5QWKE2FW7","created_at":"2026-05-29T02:05:25Z"},{"alias_kind":"pith_short_8","alias_value":"PES7PQX5","created_at":"2026-05-29T02:05:25Z"}],"graph_snapshots":[{"event_id":"sha256:d317052827b187ba88cc60f0f5851fe0fc9e194ecdbc6eacccf455ee4a82bf45","target":"graph","created_at":"2026-05-29T02:05:25Z","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/2605.29766/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Imitation learning has become a cornerstone for solving complex robotic manipulation tasks. In particular, multimodality, which enables robots to capture diverse yet valid behavioral patterns, has driven the rapid emergence of generative policies as a dominant paradigm in robot learning. However, achieving such multimodality typically relies on stochastic noise initialization and iterative denoising procedures, resulting in substantial training complexity and low inference efficiency. Meanwhile, not all phases of a robotic task inherently require behavioral diversity. Motivated by this insight","authors_text":"Bofan Lyu, Bohan Hou, Gen Li, Jianfei Yang, Jiaqi Bai, Jindou Jia, Jingliang Li, Tuo An, Xiangyu Chen, Yuxuan Hu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T11:12:30Z","title":"MARS Policy: Multimodality Only When It Matters"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.29766","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":"sha256:3cef637c7e665a20a5bd5241ad96093b2ce7a7141f52ab8ff9994ae03046d59f","target":"record","created_at":"2026-05-29T02:05:25Z","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":"f894b68c853281e407a297cd5feb3b87542eb5a7ccb8684a99ccdf2e30033b57","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-28T11:12:30Z","title_canon_sha256":"009fa6394daabc7e066614cd239c3c749ef00691ed11014e8e2f0653209cd7eb"},"schema_version":"1.0","source":{"id":"2605.29766","kind":"arxiv","version":1}},"canonical_sha256":"7925f7c2fd85944d16dfdf96b9155a6fd2368bafda45bb6a8cbdfdcb79251575","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7925f7c2fd85944d16dfdf96b9155a6fd2368bafda45bb6a8cbdfdcb79251575","first_computed_at":"2026-05-29T02:05:25.576823Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-29T02:05:25.576823Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6Zju8oqrzdAOe9vE0kmNVhciJpauT+H+v12o/TeRQcqZtT1qF+sz2qefiAeWX8Rz+/idkcvwSd0dxk5hSSSeAw==","signature_status":"signed_v1","signed_at":"2026-05-29T02:05:25.577285Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.29766","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cef637c7e665a20a5bd5241ad96093b2ce7a7141f52ab8ff9994ae03046d59f","sha256:d317052827b187ba88cc60f0f5851fe0fc9e194ecdbc6eacccf455ee4a82bf45"],"state_sha256":"74ff6219fe4dfe9a933a6fe2c89ce3acaca1ec50db01755ed085f48fe0225e74"}