{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:QVXTU4EOY2H6545QSPSH4QXWWV","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":"b774b39e35217e0077f2caac2974e076403b8a6583f5292892b2c308b1d100a5","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T15:29:09Z","title_canon_sha256":"8f952404309efe09f3910f65022cf7d201de214ede56bf76b06e9c6f1724a988"},"schema_version":"1.0","source":{"id":"2606.09630","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09630","created_at":"2026-06-09T02:09:00Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09630v1","created_at":"2026-06-09T02:09:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09630","created_at":"2026-06-09T02:09:00Z"},{"alias_kind":"pith_short_12","alias_value":"QVXTU4EOY2H6","created_at":"2026-06-09T02:09:00Z"},{"alias_kind":"pith_short_16","alias_value":"QVXTU4EOY2H6545Q","created_at":"2026-06-09T02:09:00Z"},{"alias_kind":"pith_short_8","alias_value":"QVXTU4EO","created_at":"2026-06-09T02:09:00Z"}],"graph_snapshots":[{"event_id":"sha256:59958dc9982cfd6da0eabac0dd0e9497f356f957477b3395f5482643b670da1c","target":"graph","created_at":"2026-06-09T02:09:00Z","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/2606.09630/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-language-action (VLA) policies provide strong priors for language-conditioned manipulation, but remain brittle in off-nominal states requiring targeted recovery. We propose ReCoVLA -- a failure-conditioned residual recovery framework that keeps a pretrained VLA policy frozen, uses an external vision-language model (VLM) to infer the failure mode and recovery stage, and compiles a structured reward from task-relevant components. Rather than using the VLM to generate actions or rewards directly, ReCoVLA uses it as a semantic reward selector: it predicts a recovery descriptor and reward ma","authors_text":"Chung-Ta Huang, Haodi Hu, Jing Liu, Kei Suzuki, Matthew Brand, Toshiaki Koike-Akino, Ye Wang","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T15:29:09Z","title":"ReCoVLA: VLM-Guided Reward Compilation for Failure Recovery in Vision-Language-Action Policies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09630","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":"sha256:92270d8b7b7091bfc3538ceae200db7e46be07b3c242c55f689fad15fbefdd52","target":"record","created_at":"2026-06-09T02:09:00Z","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":"b774b39e35217e0077f2caac2974e076403b8a6583f5292892b2c308b1d100a5","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T15:29:09Z","title_canon_sha256":"8f952404309efe09f3910f65022cf7d201de214ede56bf76b06e9c6f1724a988"},"schema_version":"1.0","source":{"id":"2606.09630","kind":"arxiv","version":1}},"canonical_sha256":"856f3a708ec68feef3b093e47e42f6b546d3c646d955a532650fecfd8fdecd4a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"856f3a708ec68feef3b093e47e42f6b546d3c646d955a532650fecfd8fdecd4a","first_computed_at":"2026-06-09T02:09:00.061612Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:09:00.061612Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ulp3HzXfHyQbYAKDCu0j/EM+GACGk7UHY/SOHWKgJIMajsEXEpUcNkLx6PKk8KV/PpRiWTDaaV6MY90WjhMGCQ==","signature_status":"signed_v1","signed_at":"2026-06-09T02:09:00.062400Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09630","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:92270d8b7b7091bfc3538ceae200db7e46be07b3c242c55f689fad15fbefdd52","sha256:59958dc9982cfd6da0eabac0dd0e9497f356f957477b3395f5482643b670da1c"],"state_sha256":"373d68306a6f16b56c776b126c783f76fcf2c6b171dfb8dcdab63747d3c3cc3e"}