{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:QE2SI5WFKE3IZJG6E3BY4VKOUJ","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":"ff50c4aaa169662170290b2ac3a50df7d5667138593a553c9a8378de74dc995a","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-02T17:34:19Z","title_canon_sha256":"8615531cc00c8ce47f6f25b8307b7939497b66599f3d6703c5cb1796df20254b"},"schema_version":"1.0","source":{"id":"2608.01402","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.01402","created_at":"2026-08-04T02:05:01Z"},{"alias_kind":"arxiv_version","alias_value":"2608.01402v1","created_at":"2026-08-04T02:05:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.01402","created_at":"2026-08-04T02:05:01Z"},{"alias_kind":"pith_short_12","alias_value":"QE2SI5WFKE3I","created_at":"2026-08-04T02:05:01Z"},{"alias_kind":"pith_short_16","alias_value":"QE2SI5WFKE3IZJG6","created_at":"2026-08-04T02:05:01Z"},{"alias_kind":"pith_short_8","alias_value":"QE2SI5WF","created_at":"2026-08-04T02:05:01Z"}],"graph_snapshots":[{"event_id":"sha256:a1e9c08d716cfa771aa92609e85aace16b3b7d967f5a4429ff3e2aed864720bc","target":"graph","created_at":"2026-08-04T02:05:01Z","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/2608.01402/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We address the problem of understanding when and why Vision-Language-Action models struggle with contact-rich manipulation tasks that require precise physical interaction. Prior work has primarily focused on addressing contact failures through force-augmented architectures and training-time regularizers, yet the root causes of these failures remain underexplored. We identify two distinct failure modes underlying this gap. Precision failures are rooted in a flow-matching policy training mismatch, and force failures arise from the distinctive structure of force signals. We address each failure m","authors_text":"Alberta Longhini, Carlota Par\\'es-Morlans, Isabel Liu, Jeannette Bohg, Nils Kuhn","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-02T17:34:19Z","title":"Demystifying When and Why VLAs Fail in Contact-Rich Tasks and How to Fix Them"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.01402","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":"sha256:84e0519012740a1953fe060f99fe4835e34a0c84f622b24552f6f4252b6facd3","target":"record","created_at":"2026-08-04T02:05:01Z","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":"ff50c4aaa169662170290b2ac3a50df7d5667138593a553c9a8378de74dc995a","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-02T17:34:19Z","title_canon_sha256":"8615531cc00c8ce47f6f25b8307b7939497b66599f3d6703c5cb1796df20254b"},"schema_version":"1.0","source":{"id":"2608.01402","kind":"arxiv","version":1}},"canonical_sha256":"81352476c551368ca4de26c38e554ea27c96873476ad9f5fc631edcb6d690746","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"81352476c551368ca4de26c38e554ea27c96873476ad9f5fc631edcb6d690746","first_computed_at":"2026-08-04T02:05:01.345078Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-04T02:05:01.345078Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xUrIgO/d3zGn+YJJ5/IJuHLO0grSRNLMVP1caUeHeKGUgbBPAYZnoK8MWAeZ+6sjH6y2Uf4XdztO/LkiTVxVCw==","signature_status":"signed_v1","signed_at":"2026-08-04T02:05:01.352084Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.01402","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:84e0519012740a1953fe060f99fe4835e34a0c84f622b24552f6f4252b6facd3","sha256:a1e9c08d716cfa771aa92609e85aace16b3b7d967f5a4429ff3e2aed864720bc","sha256:8eef5ec601e2828bbfdfa9d417beb32cd28a345182521a8841e17207ea665697"],"state_sha256":"ddc8130ed488fdb76ad8c71e020a6f783b2a0a7151da8092b50a30bf31936386"}