{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:PZQOOANJCL7ICDR4DRAHL23NLT","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":"3b18684c5582a1397c488f4e0f98f2f87a6f4618aa85eeafed590cb4ea3fbefd","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T08:39:57Z","title_canon_sha256":"539f64f348b06fb47125753b6e158fc8af1c49b3a91f20972afbead513c36337"},"schema_version":"1.0","source":{"id":"2606.01098","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.01098","created_at":"2026-06-02T02:04:23Z"},{"alias_kind":"arxiv_version","alias_value":"2606.01098v1","created_at":"2026-06-02T02:04:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.01098","created_at":"2026-06-02T02:04:23Z"},{"alias_kind":"pith_short_12","alias_value":"PZQOOANJCL7I","created_at":"2026-06-02T02:04:23Z"},{"alias_kind":"pith_short_16","alias_value":"PZQOOANJCL7ICDR4","created_at":"2026-06-02T02:04:23Z"},{"alias_kind":"pith_short_8","alias_value":"PZQOOANJ","created_at":"2026-06-02T02:04:23Z"}],"graph_snapshots":[{"event_id":"sha256:8feae918df87c9f9d5cdfc51c4e363503182739de5061def6d52a146c96a6c20","target":"graph","created_at":"2026-06-02T02:04:23Z","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/2606.01098/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Generative action policies based on diffusion or flow matching excel in behavior cloning, yet their iterative sampling is prohibitive for high-frequency robot control. While recent one-step formulations alleviate this latency, they inevitably discard the intermediate trajectory evolution that provides crucial action correction. Directly recovering this mechanism by explicitly estimating a training-time drifting field is mathematically ill-posed due to extreme conditional demonstration sparsity. We introduce Implicit Drifting Policy (IDP), a one-step imitation learning framework that brings the","authors_text":"Qingqiu Huang, Xinge Zhu, Yao Mu, Yaoyu He, Yiming Zhong, Yuexin Ma, Yuhao Zhang, Zemin Yang","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T08:39:57Z","title":"Implicit Drifting Policy: One-Step Action Generation via Conditional Expert Geometry"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.01098","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":"sha256:45dfa61b12e6bb97e96ed39aa4c6fa9c3671d04bfdae65f4dc9129bdccab246c","target":"record","created_at":"2026-06-02T02:04:23Z","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":"3b18684c5582a1397c488f4e0f98f2f87a6f4618aa85eeafed590cb4ea3fbefd","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-05-31T08:39:57Z","title_canon_sha256":"539f64f348b06fb47125753b6e158fc8af1c49b3a91f20972afbead513c36337"},"schema_version":"1.0","source":{"id":"2606.01098","kind":"arxiv","version":1}},"canonical_sha256":"7e60e701a912fe810e3c1c4075eb6d5cce86a0881b1ec4321fd1935142924635","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"7e60e701a912fe810e3c1c4075eb6d5cce86a0881b1ec4321fd1935142924635","first_computed_at":"2026-06-02T02:04:23.409741Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T02:04:23.409741Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"IujaBMbWy2p4t4gflKZrNnC+fIiMOp1I8L5FLtQFqaMBfHdRTUAwPlV6shtRq16QQ5HfXvwUb+p2maxX19cUDA==","signature_status":"signed_v1","signed_at":"2026-06-02T02:04:23.410243Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.01098","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:45dfa61b12e6bb97e96ed39aa4c6fa9c3671d04bfdae65f4dc9129bdccab246c","sha256:8feae918df87c9f9d5cdfc51c4e363503182739de5061def6d52a146c96a6c20"],"state_sha256":"734b8f88c4f9f680bff78e705160bb59261848556723add35054498177a3eb3b"}