{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:SCQPGLLOUPCXQYQ6M37TNSUKTG","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":"5c704cf2ca3ba6781e723ff0330d1a6e58b2c031a0f31d5dca8922f5881a359f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T10:26:03Z","title_canon_sha256":"47445443c888fb5f7792f41ba677f8941bce4c6313e215643f451bddc03f8e24"},"schema_version":"1.0","source":{"id":"2606.08555","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.08555","created_at":"2026-06-09T01:05:40Z"},{"alias_kind":"arxiv_version","alias_value":"2606.08555v1","created_at":"2026-06-09T01:05:40Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.08555","created_at":"2026-06-09T01:05:40Z"},{"alias_kind":"pith_short_12","alias_value":"SCQPGLLOUPCX","created_at":"2026-06-09T01:05:40Z"},{"alias_kind":"pith_short_16","alias_value":"SCQPGLLOUPCXQYQ6","created_at":"2026-06-09T01:05:40Z"},{"alias_kind":"pith_short_8","alias_value":"SCQPGLLO","created_at":"2026-06-09T01:05:40Z"}],"graph_snapshots":[{"event_id":"sha256:63dd6282508a73d3d9a992b1280a52423efe86fac93f68d038b6f4c39ddcebab","target":"graph","created_at":"2026-06-09T01:05:40Z","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/2606.08555/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Force signals provide critical interaction cues for contact-rich robotic manipulation. However, existing methods mostly use force as an additional observation modality, without fully exploiting its role in modeling future interaction dynamics or guiding execution-time feedback correction. In this paper, we propose FAWAM, a force-aware world action model that incorporates force information at three levels: perception, prediction, and closed-loop execution. FAWAM first encodes historical 6-axis force/torque signals to modulate action generation, then jointly predicts future actions and end-effec","authors_text":"Haotian He, Ning Guo, Qipeng Liu, Wenzhao Lian, Zeyu Yan","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T10:26:03Z","title":"FAWAM: Force-Aware World Action Models for Closed-Loop Contact-Rich Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.08555","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":"sha256:24b040dfc3f51af26818cc3153aba467f861070a5829b6c8e9ab84052524f98d","target":"record","created_at":"2026-06-09T01:05:40Z","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":"5c704cf2ca3ba6781e723ff0330d1a6e58b2c031a0f31d5dca8922f5881a359f","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-07T10:26:03Z","title_canon_sha256":"47445443c888fb5f7792f41ba677f8941bce4c6313e215643f451bddc03f8e24"},"schema_version":"1.0","source":{"id":"2606.08555","kind":"arxiv","version":1}},"canonical_sha256":"90a0f32d6ea3c578621e66ff36ca8a999b0866eb4dbb4d992e47cd4e0d5f3322","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"90a0f32d6ea3c578621e66ff36ca8a999b0866eb4dbb4d992e47cd4e0d5f3322","first_computed_at":"2026-06-09T01:05:40.047779Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T01:05:40.047779Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bjEukHE8IanNeMihBRgOQ0A/TIb5ehAr+YfjZwrZgBZgNrjBbkqGgiXsaW915GTLth5p0o9vNFQCY+naWpZ+Cg==","signature_status":"signed_v1","signed_at":"2026-06-09T01:05:40.048200Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.08555","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:24b040dfc3f51af26818cc3153aba467f861070a5829b6c8e9ab84052524f98d","sha256:63dd6282508a73d3d9a992b1280a52423efe86fac93f68d038b6f4c39ddcebab"],"state_sha256":"f89221e95f70e3292b8e2c0fe47c25b44a553b4231713f7e56581f4b76b23f81"}