{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:Q3JMWRZCM62CE7JNN376YDXO2J","short_pith_number":"pith:Q3JMWRZC","canonical_record":{"source":{"id":"2605.19294","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T03:14:11Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"f2c22744f04ae13ff05e17d74816924dd843e4e202c9816f8c5929eef2ffd856","abstract_canon_sha256":"431d1a2b6333accb5b21f47b1e54c6b3e9ff82aef7ce3e1f70259e009da4b5b4"},"schema_version":"1.0"},"canonical_sha256":"86d2cb472267b4227d2d6effec0eeed241f6a896a3dbe58be27ebb5c1e5bf357","source":{"kind":"arxiv","id":"2605.19294","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.19294","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"arxiv_version","alias_value":"2605.19294v1","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.19294","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_12","alias_value":"Q3JMWRZCM62C","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_16","alias_value":"Q3JMWRZCM62CE7JN","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_8","alias_value":"Q3JMWRZC","created_at":"2026-05-20T01:05:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:Q3JMWRZCM62CE7JNN376YDXO2J","target":"record","payload":{"canonical_record":{"source":{"id":"2605.19294","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T03:14:11Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"f2c22744f04ae13ff05e17d74816924dd843e4e202c9816f8c5929eef2ffd856","abstract_canon_sha256":"431d1a2b6333accb5b21f47b1e54c6b3e9ff82aef7ce3e1f70259e009da4b5b4"},"schema_version":"1.0"},"canonical_sha256":"86d2cb472267b4227d2d6effec0eeed241f6a896a3dbe58be27ebb5c1e5bf357","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T01:05:38.079423Z","signature_b64":"rRpmInY+ENKSE+MbHdBBLv9Q9pL9hsfm7830J/thPRqioJ84nRVLXENWdTGbSMw+33Fx2mK4EDcYfMByF3/7CQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"86d2cb472267b4227d2d6effec0eeed241f6a896a3dbe58be27ebb5c1e5bf357","last_reissued_at":"2026-05-20T01:05:38.078654Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T01:05:38.078654Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.19294","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-20T01:05:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xz2/ToWkqIX5ZQOnWwajyP0rDuF7x41wKsFGgoXVgoF4M3pJWKzb37mT9FGeWJUCR77/a7BGz1IGDPyW54NCAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T22:12:06.899102Z"},"content_sha256":"14e34f474703d3d736c4292d4d9a40116f6e2d08ed8fffa87feff9be3ef0a99b","schema_version":"1.0","event_id":"sha256:14e34f474703d3d736c4292d4d9a40116f6e2d08ed8fffa87feff9be3ef0a99b"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:Q3JMWRZCM62CE7JNN376YDXO2J","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DEFLECT: Delay-Robust Execution via Flow-matching Likelihood-Estimated Counterfactual Tuning for VLA Policies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Jiaxiang Zou, Jingyu Guo, Rui Meng, Taowen Wang, Xinyu Chen, Yixiang Zhu, Yonghao Chen, Zijie Yang","submitted_at":"2026-05-19T03:14:11Z","abstract_excerpt":"Vision-Language-Action (VLA) policies are typically deployed with asynchronous inference: the robot executes a previously predicted action chunk while the model computes the next one. This creates a prediction-execution misalignment: the chunk is conditioned on the observation taken before inference began, but executes in a physical state that has already drifted forward by several control steps; naive asynchronous rollover collapses from 89% to under 1% on Kinetix as the inference cycle covers up to seven control steps. We introduce DEFLECT, a fully offline post-training refinement that appli"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19294","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.19294/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-20T01:05:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sUXWs6O+f9e4jvbalVLjkqEt/kQte3CYsQGO+y3VF5weo1xs3fqLRWXgUFEmN4JdXKScYYC5T9QEGyp03OtgCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T22:12:06.899529Z"},"content_sha256":"7548db397987374239f6e8ae95850ebd33a4dc14398576bb3f8754f51e017f41","schema_version":"1.0","event_id":"sha256:7548db397987374239f6e8ae95850ebd33a4dc14398576bb3f8754f51e017f41"},{"event_type":"integrity_finding","subject_pith_number":"pith:2026:Q3JMWRZCM62CE7JNN376YDXO2J","target":"integrity","payload":{"note":"Citing paper attributes a specific factual claim to reference [20], which resolves to arXiv:2603.19199. The claim's distinctive tokens have only 0% overlap with any chunk of the cited paper's stored text (threshold for unsupported is 15%). The attribution could not be verified against the cited work.","snippet":"at30Hz control on a consumer RTX 4060,π 0.","arxiv_id":"2605.19294","detector":"citation_quote_validity","evidence":{"ref_index":20,"claim_text":"at30Hz control on a consumer RTX 4060,π 0.","claim_offset":19604,"verdict_class":"threshold_with_margin","chunks_checked":1,"cited_arxiv_id":"2603.19199","best_overlap_score":0.0,"supported_threshold":0.5,"best_overlap_chunk_id":null,"unsupported_threshold":0.15},"severity":"advisory","ref_index":20,"audited_at":"2026-05-20T23:49:50.967271Z","event_type":"pith.integrity.v1","detected_doi":null,"detector_url":"https://pith.science/pith-integrity-protocol#citation_quote_validity","external_url":null,"finding_type":"unsupported_attribution","evidence_hash":"b2859c6cd12733ca86c843129d6f85b149d57a8fb4e2e90ca2c77f7a9c98d31e","paper_version":1,"verdict_class":"threshold_with_margin","resolved_title":null,"detector_version":"0.1.0","detected_arxiv_id":"2603.19199","integrity_event_id":5560,"payload_sha256":"f5e6557a4ea61396d6eea0ee9aaf7d68c6f0069398a77bc16f46f8ce41e6a0c6","signature_b64":"BBL91m2B0HDXlNwu+VJiVgJRwEhcZm9iPFOLrJy4jIYMjc9UDoubmcePtZD41Soqng3vwBPBhdxHovu4utR/CA==","signing_key_id":"pith-v1-2026-05"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-20T23:53:44Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pyEzYcpCux/mXNQqOJlNUFc7xE4L+ew88B3TaGJFA4jzxyoypPcJSFFE6Lo+CqzZDPWyw58cWQeGsRY4V+UdCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-21T22:12:06.900557Z"},"content_sha256":"20b72c3f1e3ecec1f920caf6cb836811e0904a3e66917ea201dfd48665ddea4a","schema_version":"1.0","event_id":"sha256:20b72c3f1e3ecec1f920caf6cb836811e0904a3e66917ea201dfd48665ddea4a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/Q3JMWRZCM62CE7JNN376YDXO2J/bundle.json","state_url":"https://pith.science/pith/Q3JMWRZCM62CE7JNN376YDXO2J/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/Q3JMWRZCM62CE7JNN376YDXO2J/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-21T22:12:06Z","links":{"resolver":"https://pith.science/pith/Q3JMWRZCM62CE7JNN376YDXO2J","bundle":"https://pith.science/pith/Q3JMWRZCM62CE7JNN376YDXO2J/bundle.json","state":"https://pith.science/pith/Q3JMWRZCM62CE7JNN376YDXO2J/state.json","well_known_bundle":"https://pith.science/.well-known/pith/Q3JMWRZCM62CE7JNN376YDXO2J/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:Q3JMWRZCM62CE7JNN376YDXO2J","merge_version":"pith-open-graph-merge-v1","event_count":3,"valid_event_count":3,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"431d1a2b6333accb5b21f47b1e54c6b3e9ff82aef7ce3e1f70259e009da4b5b4","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T03:14:11Z","title_canon_sha256":"f2c22744f04ae13ff05e17d74816924dd843e4e202c9816f8c5929eef2ffd856"},"schema_version":"1.0","source":{"id":"2605.19294","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.19294","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"arxiv_version","alias_value":"2605.19294v1","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.19294","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_12","alias_value":"Q3JMWRZCM62C","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_16","alias_value":"Q3JMWRZCM62CE7JN","created_at":"2026-05-20T01:05:38Z"},{"alias_kind":"pith_short_8","alias_value":"Q3JMWRZC","created_at":"2026-05-20T01:05:38Z"}],"graph_snapshots":[{"event_id":"sha256:7548db397987374239f6e8ae95850ebd33a4dc14398576bb3f8754f51e017f41","target":"graph","created_at":"2026-05-20T01:05:38Z","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/2605.19294/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-Language-Action (VLA) policies are typically deployed with asynchronous inference: the robot executes a previously predicted action chunk while the model computes the next one. This creates a prediction-execution misalignment: the chunk is conditioned on the observation taken before inference began, but executes in a physical state that has already drifted forward by several control steps; naive asynchronous rollover collapses from 89% to under 1% on Kinetix as the inference cycle covers up to seven control steps. We introduce DEFLECT, a fully offline post-training refinement that appli","authors_text":"Jiaxiang Zou, Jingyu Guo, Rui Meng, Taowen Wang, Xinyu Chen, Yixiang Zhu, Yonghao Chen, Zijie Yang","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T03:14:11Z","title":"DEFLECT: Delay-Robust Execution via Flow-matching Likelihood-Estimated Counterfactual Tuning for VLA Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.19294","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":"sha256:14e34f474703d3d736c4292d4d9a40116f6e2d08ed8fffa87feff9be3ef0a99b","target":"record","created_at":"2026-05-20T01:05:38Z","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":"431d1a2b6333accb5b21f47b1e54c6b3e9ff82aef7ce3e1f70259e009da4b5b4","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-19T03:14:11Z","title_canon_sha256":"f2c22744f04ae13ff05e17d74816924dd843e4e202c9816f8c5929eef2ffd856"},"schema_version":"1.0","source":{"id":"2605.19294","kind":"arxiv","version":1}},"canonical_sha256":"86d2cb472267b4227d2d6effec0eeed241f6a896a3dbe58be27ebb5c1e5bf357","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"86d2cb472267b4227d2d6effec0eeed241f6a896a3dbe58be27ebb5c1e5bf357","first_computed_at":"2026-05-20T01:05:38.078654Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T01:05:38.078654Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"rRpmInY+ENKSE+MbHdBBLv9Q9pL9hsfm7830J/thPRqioJ84nRVLXENWdTGbSMw+33Fx2mK4EDcYfMByF3/7CQ==","signature_status":"signed_v1","signed_at":"2026-05-20T01:05:38.079423Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.19294","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:14e34f474703d3d736c4292d4d9a40116f6e2d08ed8fffa87feff9be3ef0a99b","sha256:7548db397987374239f6e8ae95850ebd33a4dc14398576bb3f8754f51e017f41","sha256:20b72c3f1e3ecec1f920caf6cb836811e0904a3e66917ea201dfd48665ddea4a"],"state_sha256":"aee665cb3772217fff5c69ab81ade71bddaba385e01d712d50b7fe8124f55697"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"UktPItgzxlOkJEuLFjzfvpkf6xmWl70CCxbLh+XnyIbfhFX0XrIcgJgWJM7H/+1+14Cbo2xo/iYBBMctqW9oBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-21T22:12:06.903690Z","bundle_sha256":"9e32bcc3c737c1ad1b780d60397890c7b3281bd9550d98648a88c126c166e637"}}