Pith Number

pith:Y5NEIOEV

pith:2026:Y5NEIOEVK2MBQ7I533BHFOKVNQ

not attested not anchored not stored refs pending

Coarse-to-Control: Action-Token Planning for Vision-Language-Action Models

Hang Zhao, Jing Huo, Jingjing Gong, Jinhao Wu, Shiduo Zhang, Sixian Li, Siyin Wang, Xiaopeng Yu, Xipeng Qiu, Yang Gao, Yicheng Liu, Yu-Gang Jiang

arxiv:2606.07107 v1 · 2026-06-05 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{Y5NEIOEVK2MBQ7I533BHFOKVNQ}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

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.

Receipt and verification

First computed	2026-06-08T01:04:46.695877Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c75a4438955698187d1ddec272b9556c022a8bf8841eb7a4d3080233a0bf99f5

Aliases

arxiv: 2606.07107 · arxiv_version: 2606.07107v1 · doi: 10.48550/arxiv.2606.07107 · pith_short_12: Y5NEIOEVK2MB · pith_short_16: Y5NEIOEVK2MBQ7I5 · pith_short_8: Y5NEIOEV

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/Y5NEIOEVK2MBQ7I533BHFOKVNQ \
  | 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: c75a4438955698187d1ddec272b9556c022a8bf8841eb7a4d3080233a0bf99f5

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "25f8a5632fc7216d7087fa450e4aebba2b6b2a5633a0fdcf724b67d158a9e22c",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-06-05T10:01:37Z",
    "title_canon_sha256": "1c49433d30fb2c2143c7252cea85691a0dd8338fcbbf233e455c60ef75682fef"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2606.07107",
    "kind": "arxiv",
    "version": 1
  }
}