{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XIK6T7HNNXIIOUXDZCXPDXYIP6","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":"437ed25d4f670cb83c6a029ced034b9c6cecde0d081781e602ed8afa3a42d567","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:30:38Z","title_canon_sha256":"3fd9324583213c5258d2f220c42838555ed6886538330d43125ea4cb064b74a6"},"schema_version":"1.0","source":{"id":"2606.09258","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.09258","created_at":"2026-06-09T02:08:10Z"},{"alias_kind":"arxiv_version","alias_value":"2606.09258v1","created_at":"2026-06-09T02:08:10Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09258","created_at":"2026-06-09T02:08:10Z"},{"alias_kind":"pith_short_12","alias_value":"XIK6T7HNNXII","created_at":"2026-06-09T02:08:10Z"},{"alias_kind":"pith_short_16","alias_value":"XIK6T7HNNXIIOUXD","created_at":"2026-06-09T02:08:10Z"},{"alias_kind":"pith_short_8","alias_value":"XIK6T7HN","created_at":"2026-06-09T02:08:10Z"}],"graph_snapshots":[{"event_id":"sha256:c96c1e64a501f433f6146cbdac0725c5b5e082db3c7bc49f3c36531092ec3c13","target":"graph","created_at":"2026-06-09T02:08:10Z","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/2606.09258/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-language-action (VLA) policies can deviate from nominal trajectories during manipulation, even when tasks remain physically feasible. Recovering from these deviations is challenging, as they push the policy into unfamiliar state spaces where direct re-planning frequently destabilizes action sequences. We propose Back to the Familiar Future (B2FF), a recovery framework for foresight-driven VLAs that leverages future visual conditioning as a recovery interface. Before execution, the VLA generates a milestone bank of familiar future states conditioned on the clean initial observation. At r","authors_text":"Byoung-Tak Zhang, Hyeonbin Park, Hyundo Lee, Hyung-Sin Kim, Hyunseo Kim, Juwon Kim, Suyeon Shin","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:30:38Z","title":"Back to the Familiar Future: Failure Recovery for VLA Policies via Pre-Imagined Milestone Selection"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09258","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:e50457793c1c14240e38709e04f9f991ea361c9303f3269ad21b46fa23c49038","target":"record","created_at":"2026-06-09T02:08:10Z","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":"437ed25d4f670cb83c6a029ced034b9c6cecde0d081781e602ed8afa3a42d567","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T09:30:38Z","title_canon_sha256":"3fd9324583213c5258d2f220c42838555ed6886538330d43125ea4cb064b74a6"},"schema_version":"1.0","source":{"id":"2606.09258","kind":"arxiv","version":1}},"canonical_sha256":"ba15e9fced6dd08752e3c8aef1df087f823da3a411b522212130bbe0629d4a15","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ba15e9fced6dd08752e3c8aef1df087f823da3a411b522212130bbe0629d4a15","first_computed_at":"2026-06-09T02:08:10.816985Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-09T02:08:10.816985Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"azH9H4a7szYpJECqRUVPOVY9upJbocOF3WHPt6YF9boFg5f2XeSb4J8OhsLlbz5isIC2QHP2025oagW+OlAFBg==","signature_status":"signed_v1","signed_at":"2026-06-09T02:08:10.818672Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.09258","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e50457793c1c14240e38709e04f9f991ea361c9303f3269ad21b46fa23c49038","sha256:c96c1e64a501f433f6146cbdac0725c5b5e082db3c7bc49f3c36531092ec3c13"],"state_sha256":"30b043f17f299b6e9050fa965b965e2963d8678c1f19f370be6c0b2143ce925d"}