Pith Number

pith:T6SBYLI2

pith:2026:T6SBYLI227PCC7LM4LREAU63TG

not attested not anchored not stored refs pending

Towards Generalizable Robotic Manipulation in Dynamic Environments

Dingkang Liang, Heng Fang, Shangru Li, Shuhan Wang, Xiang Bai, Xuanyang Xi

PUMA integrates scene-centric historical optical flow with specialized world queries to implicitly forecast object states, delivering a 6.3% success-rate gain on dynamic manipulation tasks.

arxiv:2603.15620 v3 · 2026-03-16 · cs.CV · cs.RO

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\pithnumber{T6SBYLI227PCC7LM4LREAU63TG}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

PUMA achieves state-of-the-art performance, yielding a 6.3% absolute improvement in success rate over baselines by integrating scene-centric historical optical flow and specialized world queries to implicitly forecast object-centric future states.

C2weakest assumption

That scene-centric historical optical flow combined with specialized world queries is sufficient to enable reliable short-horizon prediction of object states in dynamic environments without requiring explicit physics modeling or longer-term forecasting.

C3one line summary

DOMINO dataset and PUMA architecture enable better dynamic robotic manipulation by incorporating motion history, delivering 6.3% higher success rates than prior VLA models.

Formal links

2 machine-checked theorem links

Cited by

1 paper in Pith

DynamicWAM: Dual-Path Motion Conditioning for World-Action Models in Dynamic Manipulation

Receipt and verification

First computed	2026-07-01T01:17:49.087670Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

9fa41c2d1ad7de217d6ce2e24053db999aa6bfd0e092886453291d073b476da4

Aliases

arxiv: 2603.15620 · arxiv_version: 2603.15620v3 · doi: 10.48550/arxiv.2603.15620 · pith_short_12: T6SBYLI227PC · pith_short_16: T6SBYLI227PCC7LM · pith_short_8: T6SBYLI2

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/T6SBYLI227PCC7LM4LREAU63TG \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 9fa41c2d1ad7de217d6ce2e24053db999aa6bfd0e092886453291d073b476da4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "e1dea74005a3f19e36604a36508686068fae56fbe15d2f7885069e58d55aee17",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-03-16T17:59:57Z",
    "title_canon_sha256": "ef08881efad04de6bb8ba27e0debd5384a1168733e7e24df6e382da50447bddf"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2603.15620",
    "kind": "arxiv",
    "version": 3
  }
}