{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:WOHF4ZPWCEG2KH24VXQNOCTNOY","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":"3e1e88d65c5f5b67cc2364667356a133b6e53144fd3ec992e8c747cfb59cdba9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T03:42:33Z","title_canon_sha256":"fd92b530e42133b43d7a2f31b42fc8c8c6cc169bd0e7d51d35a9aaae6d9539e2"},"schema_version":"1.0","source":{"id":"2606.12859","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.12859","created_at":"2026-06-12T01:08:55Z"},{"alias_kind":"arxiv_version","alias_value":"2606.12859v1","created_at":"2026-06-12T01:08:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.12859","created_at":"2026-06-12T01:08:55Z"},{"alias_kind":"pith_short_12","alias_value":"WOHF4ZPWCEG2","created_at":"2026-06-12T01:08:55Z"},{"alias_kind":"pith_short_16","alias_value":"WOHF4ZPWCEG2KH24","created_at":"2026-06-12T01:08:55Z"},{"alias_kind":"pith_short_8","alias_value":"WOHF4ZPW","created_at":"2026-06-12T01:08:55Z"}],"graph_snapshots":[{"event_id":"sha256:a74ecf5a8fc1392179874d577bb35b18dc63d7b802485a79c0882e0547802c20","target":"graph","created_at":"2026-06-12T01:08:55Z","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/2606.12859/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Aerial manipulation systems have long suffered from representation coupling in end-to-end control, as platform-level Unmanned Aerial Vehicle (UAV) movement and end-effector-level arm manipulation differ substantially in action scale, dynamics, and control objectives. In this paper, we propose AIR-VLA+, a flow matching action generation architecture specifically designed for aerial manipulation, featuring cascaded dual-action decoders and an asymmetric feature-level Mixture of Experts (MoE). We construct cascaded manipulation and movement decoders, allowing the UAV to unidirectionally observe t","authors_text":"Bai Li, Bin Tian, Jianli Sun, Qiyao Zhang, Yisheng Lv, Yonglin Tian, Yutong Wang, Zhiyong Cui, Zijian Liu","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T03:42:33Z","title":"AIR-VLA+: Decoupling Movement and Manipulation via Cascaded Dual-Action Decoders with Asymmetric MoE for Aerial Robots"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.12859","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:c13ff81714ee562cd34937904e806ca5a00cb75849cb7778c3d543577534e42f","target":"record","created_at":"2026-06-12T01:08:55Z","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":"3e1e88d65c5f5b67cc2364667356a133b6e53144fd3ec992e8c747cfb59cdba9","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-11T03:42:33Z","title_canon_sha256":"fd92b530e42133b43d7a2f31b42fc8c8c6cc169bd0e7d51d35a9aaae6d9539e2"},"schema_version":"1.0","source":{"id":"2606.12859","kind":"arxiv","version":1}},"canonical_sha256":"b38e5e65f6110da51f5cade0d70a6d7637444897971ee90672949a39c26242d4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b38e5e65f6110da51f5cade0d70a6d7637444897971ee90672949a39c26242d4","first_computed_at":"2026-06-12T01:08:55.016394Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-12T01:08:55.016394Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jU81mJiGzeXBKsYaMNf5WRuiVFMCbihRbwhT3/lw+fVhXwpFGsGytHXr6N5sfi8ViN3bvF6yT/UtWgd8N/6JDA==","signature_status":"signed_v1","signed_at":"2026-06-12T01:08:55.017301Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.12859","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c13ff81714ee562cd34937904e806ca5a00cb75849cb7778c3d543577534e42f","sha256:a74ecf5a8fc1392179874d577bb35b18dc63d7b802485a79c0882e0547802c20"],"state_sha256":"464ccad4843f2ebd26537c1b9315827b381655193065b8e83327afd70f8581f3"}