{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:UBZGHTPBGOCQBVPMUFJBMX6M4J","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":"3b4aba89b8658e5494d2d71fb61bcbc87e12932b3f8173d48132af5c666e3972","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T18:14:08Z","title_canon_sha256":"42507482ec2c952c71d79aeda1a1e21757fe68a115ebd7f39cbe9a170d0f8405"},"schema_version":"1.0","source":{"id":"2606.10040","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10040","created_at":"2026-06-10T00:08:46Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10040v1","created_at":"2026-06-10T00:08:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10040","created_at":"2026-06-10T00:08:46Z"},{"alias_kind":"pith_short_12","alias_value":"UBZGHTPBGOCQ","created_at":"2026-06-10T00:08:46Z"},{"alias_kind":"pith_short_16","alias_value":"UBZGHTPBGOCQBVPM","created_at":"2026-06-10T00:08:46Z"},{"alias_kind":"pith_short_8","alias_value":"UBZGHTPB","created_at":"2026-06-10T00:08:46Z"}],"graph_snapshots":[{"event_id":"sha256:76cc7171b8e816c7d1d7bb68d82ddd1e57f371416919f8b35e96b272338114dc","target":"graph","created_at":"2026-06-10T00:08:46Z","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/2606.10040/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"World-Action Models (WAMs) have emerged as a promising paradigm for embodied control by coupling future visual prediction with action generation. However, most existing WAMs rely on photorealistic future prediction, which incurs high inference latency and makes real-time robot deployment difficult. This motivates a more efficient WAM design that preserves the control benefits of future visual prediction while reducing its inference cost. We introduce Efficient-WAM, a World-Action Model that reduces the cost of future imagination while preserving its control benefit. Efficient-WAM improves infe","authors_text":"Jiajun Li, Meng Guo, Qianpu Sun, Rongyu Zhang, Shanghang Zhang, Tiecheng Guo, Xiaowei Chi, Yan Huang, Yifan Ye, Ying Li, Yunfan Lou, Zhihe Lu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T18:14:08Z","title":"Efficient-WAM: A 1B-Parameter World-Action Model with Low-Cost Future Imagination"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10040","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":"sha256:063af0b410cb20852e3895ac71922d52947a9550eeba5f836fa69ccd5af60e5a","target":"record","created_at":"2026-06-10T00:08:46Z","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":"3b4aba89b8658e5494d2d71fb61bcbc87e12932b3f8173d48132af5c666e3972","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T18:14:08Z","title_canon_sha256":"42507482ec2c952c71d79aeda1a1e21757fe68a115ebd7f39cbe9a170d0f8405"},"schema_version":"1.0","source":{"id":"2606.10040","kind":"arxiv","version":1}},"canonical_sha256":"a07263cde1338500d5eca152165fcce25189d96a6750091cc0becde40905b567","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"a07263cde1338500d5eca152165fcce25189d96a6750091cc0becde40905b567","first_computed_at":"2026-06-10T00:08:46.130963Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T00:08:46.130963Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"qMKbUak013ZT5aUzDFTFy61FxYJNFhqahE3n9o9+Bpayi58vhRAo/vejkt+QPVkB3apsYCMowY5hMNrbkIfwCA==","signature_status":"signed_v1","signed_at":"2026-06-10T00:08:46.131980Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.10040","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:063af0b410cb20852e3895ac71922d52947a9550eeba5f836fa69ccd5af60e5a","sha256:76cc7171b8e816c7d1d7bb68d82ddd1e57f371416919f8b35e96b272338114dc"],"state_sha256":"073430601a35854e7bbc57f8303492e754436eb8fc8a2c40a79a04f7f198fa84"}