{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:W37F6N6ELULGNOSTQ6TJI2TZQI","short_pith_number":"pith:W37F6N6E","canonical_record":{"source":{"id":"2608.09516","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-10T12:15:59Z","cross_cats_sorted":[],"title_canon_sha256":"6366f6ff3dd8a597bb9cc0e0c399a02d0c106e065e49212525e654168c49cbb9","abstract_canon_sha256":"fdb304848f76b4ba1f6fd789f8fc3d0e5b6833b868c2972a0e9aa4e8c028c082"},"schema_version":"1.0"},"canonical_sha256":"b6fe5f37c45d1666ba5387a6946a798212216ce0d48c5bac75a9a9ec4d1ce37d","source":{"kind":"arxiv","id":"2608.09516","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.09516","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"arxiv_version","alias_value":"2608.09516v1","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.09516","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_12","alias_value":"W37F6N6ELULG","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_16","alias_value":"W37F6N6ELULGNOST","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_8","alias_value":"W37F6N6E","created_at":"2026-08-11T02:24:23Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:W37F6N6ELULGNOSTQ6TJI2TZQI","target":"record","payload":{"canonical_record":{"source":{"id":"2608.09516","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-10T12:15:59Z","cross_cats_sorted":[],"title_canon_sha256":"6366f6ff3dd8a597bb9cc0e0c399a02d0c106e065e49212525e654168c49cbb9","abstract_canon_sha256":"fdb304848f76b4ba1f6fd789f8fc3d0e5b6833b868c2972a0e9aa4e8c028c082"},"schema_version":"1.0"},"canonical_sha256":"b6fe5f37c45d1666ba5387a6946a798212216ce0d48c5bac75a9a9ec4d1ce37d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-11T02:24:23.476204Z","signature_b64":"6UHrGqVTotnn65EAHhNIKg8rGF4636T1dBE5lf9dDX/Xrpox0Mf/vFXZ2y4Bq4LtLq7eE+2gMPNOAl7ZX7hBCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b6fe5f37c45d1666ba5387a6946a798212216ce0d48c5bac75a9a9ec4d1ce37d","last_reissued_at":"2026-08-11T02:24:23.474722Z","signature_status":"signed_v1","first_computed_at":"2026-08-11T02:24:23.474722Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2608.09516","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-08-11T02:24:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Y9yxFeejY02+MUhswfsaM1XerSB1mSDLus9L2EwUYTiS5RQvO/8OskiKW3b83vi84hWyZxZbTPNb/aljJhrZCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:13:12.195401Z"},"content_sha256":"9a818de4d3d7adb01a14ec9f7d2d3eb68490bd105fa608e931d745e8e0cb5ecb","schema_version":"1.0","event_id":"sha256:9a818de4d3d7adb01a14ec9f7d2d3eb68490bd105fa608e931d745e8e0cb5ecb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:W37F6N6ELULGNOSTQ6TJI2TZQI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HarnessWAM: Bridging Prediction and Deliberation in World Action Models","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bingke Zhu, Chaoyang Zhao, Guibo Zhu, Jinqiao Wang, Kai Wang, Peng Su, Tianxi Lin, Tingyu Yuan, Yingying Chen, Zhaopeng Gu, Zhaowen Li","submitted_at":"2026-08-10T12:15:59Z","abstract_excerpt":"World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physical evolution into embodied control. However, finite-horizon prediction and action generation are insufficient for complex embodied tasks that require global planning, cross-stage state maintenance, execution verification, and failure recovery. We refer to this mismatch as the prediction-deliberation gap of WAMs. To address this gap, we propose HarnessWAM, an agentic framework for WAMs. HarnessWAM employs a vision-language-model-based Task Manager to maintain an evidence-grounded sce"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.09516","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.09516/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-08-11T02:24:23Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"HFnsbjMJeZ6FW5uTaJRLUGw3pgTlCoPkdAWtAYgDC8pALUhWiyLHR6piQDddaFKpPkavwO7RsO0V8/pQaOhSCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T13:13:12.196341Z"},"content_sha256":"a6c634643dfb199ac392fc247c4d0237da48feda1540901fcd5f4997ca2c30d2","schema_version":"1.0","event_id":"sha256:a6c634643dfb199ac392fc247c4d0237da48feda1540901fcd5f4997ca2c30d2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/bundle.json","state_url":"https://pith.science/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-20T13:13:12Z","links":{"resolver":"https://pith.science/pith/W37F6N6ELULGNOSTQ6TJI2TZQI","bundle":"https://pith.science/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/bundle.json","state":"https://pith.science/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/W37F6N6ELULGNOSTQ6TJI2TZQI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:W37F6N6ELULGNOSTQ6TJI2TZQI","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":"fdb304848f76b4ba1f6fd789f8fc3d0e5b6833b868c2972a0e9aa4e8c028c082","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-10T12:15:59Z","title_canon_sha256":"6366f6ff3dd8a597bb9cc0e0c399a02d0c106e065e49212525e654168c49cbb9"},"schema_version":"1.0","source":{"id":"2608.09516","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.09516","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"arxiv_version","alias_value":"2608.09516v1","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.09516","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_12","alias_value":"W37F6N6ELULG","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_16","alias_value":"W37F6N6ELULGNOST","created_at":"2026-08-11T02:24:23Z"},{"alias_kind":"pith_short_8","alias_value":"W37F6N6E","created_at":"2026-08-11T02:24:23Z"}],"graph_snapshots":[{"event_id":"sha256:a6c634643dfb199ac392fc247c4d0237da48feda1540901fcd5f4997ca2c30d2","target":"graph","created_at":"2026-08-11T02:24:23Z","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/2608.09516/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"World Action Models (WAMs) jointly learn environmental dynamics and robot actions, introducing priors over physical evolution into embodied control. However, finite-horizon prediction and action generation are insufficient for complex embodied tasks that require global planning, cross-stage state maintenance, execution verification, and failure recovery. We refer to this mismatch as the prediction-deliberation gap of WAMs. To address this gap, we propose HarnessWAM, an agentic framework for WAMs. HarnessWAM employs a vision-language-model-based Task Manager to maintain an evidence-grounded sce","authors_text":"Bingke Zhu, Chaoyang Zhao, Guibo Zhu, Jinqiao Wang, Kai Wang, Peng Su, Tianxi Lin, Tingyu Yuan, Yingying Chen, Zhaopeng Gu, Zhaowen Li","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-10T12:15:59Z","title":"HarnessWAM: Bridging Prediction and Deliberation in World Action Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.09516","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":"sha256:9a818de4d3d7adb01a14ec9f7d2d3eb68490bd105fa608e931d745e8e0cb5ecb","target":"record","created_at":"2026-08-11T02:24:23Z","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":"fdb304848f76b4ba1f6fd789f8fc3d0e5b6833b868c2972a0e9aa4e8c028c082","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-08-10T12:15:59Z","title_canon_sha256":"6366f6ff3dd8a597bb9cc0e0c399a02d0c106e065e49212525e654168c49cbb9"},"schema_version":"1.0","source":{"id":"2608.09516","kind":"arxiv","version":1}},"canonical_sha256":"b6fe5f37c45d1666ba5387a6946a798212216ce0d48c5bac75a9a9ec4d1ce37d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b6fe5f37c45d1666ba5387a6946a798212216ce0d48c5bac75a9a9ec4d1ce37d","first_computed_at":"2026-08-11T02:24:23.474722Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-11T02:24:23.474722Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6UHrGqVTotnn65EAHhNIKg8rGF4636T1dBE5lf9dDX/Xrpox0Mf/vFXZ2y4Bq4LtLq7eE+2gMPNOAl7ZX7hBCA==","signature_status":"signed_v1","signed_at":"2026-08-11T02:24:23.476204Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.09516","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a818de4d3d7adb01a14ec9f7d2d3eb68490bd105fa608e931d745e8e0cb5ecb","sha256:a6c634643dfb199ac392fc247c4d0237da48feda1540901fcd5f4997ca2c30d2"],"state_sha256":"072d6acf9a6bb7c7b23ecff1d6b73cadc7815e9c3ca8c75f327fdf5299b2ac0c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WIN1QWAToH4pSG5mn6M+2QNA9Swk1AtcTAOgNTfES3v7UQ0kwqH5jLSwiQwhB59aa8ngGA4tS9iELxnr4NNtAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T13:13:12.203847Z","bundle_sha256":"5b0b41ad681409275d82b56fd25f389f0fd9d89b4e32ed79b5b126ba64eaa1f9"}}