{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:4SSYDFXXTE64PMPXRUYW4P7UX6","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":"ad57df2b304fefe660f372ce88fb9e4e2792fd4922993c7e111610a8d449ec16","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T00:24:00Z","title_canon_sha256":"7edaf12063650c03d67b3e10a5490c9310634d021965c6af5e43ae672a300ef7"},"schema_version":"1.0","source":{"id":"2606.10267","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10267","created_at":"2026-06-10T01:09:03Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10267v1","created_at":"2026-06-10T01:09:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10267","created_at":"2026-06-10T01:09:03Z"},{"alias_kind":"pith_short_12","alias_value":"4SSYDFXXTE64","created_at":"2026-06-10T01:09:03Z"},{"alias_kind":"pith_short_16","alias_value":"4SSYDFXXTE64PMPX","created_at":"2026-06-10T01:09:03Z"},{"alias_kind":"pith_short_8","alias_value":"4SSYDFXX","created_at":"2026-06-10T01:09:03Z"}],"graph_snapshots":[{"event_id":"sha256:d196bc1ad1ab92267cfc2df78536c192820b687b122b1b3eeeb80689a0f0c0ad","target":"graph","created_at":"2026-06-10T01:09:03Z","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/2606.10267/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Hierarchical vision-language-action (Hi-VLA) systems have emerged as a promising paradigm for complex robot manipulation, by using high-level VLM planners to decompose tasks into language subgoals executed by low-level VLA controllers. Despite recent empirical progress, there is a lack of unified design principles for these systems: existing Hi-VLA systems differ in how they choose and connect planners, controllers, mechanisms to switch between the two, and how observations and memory are represented in the planner. In this paper, we present a systematic study of Hi-VLA design for robot manipu","authors_text":"Annie Xie, Caden Lu, Dhruv Shah, Hao-Tien Lewis Chiang, Jiaheng Hu, Jie Tan, Mohit Shridhar","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T00:24:00Z","title":"What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agents"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10267","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":"sha256:5132c016526dd8bc1cb8493f45eda1060688c156f22427a3ab3aed2745f30d2f","target":"record","created_at":"2026-06-10T01:09:03Z","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":"ad57df2b304fefe660f372ce88fb9e4e2792fd4922993c7e111610a8d449ec16","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T00:24:00Z","title_canon_sha256":"7edaf12063650c03d67b3e10a5490c9310634d021965c6af5e43ae672a300ef7"},"schema_version":"1.0","source":{"id":"2606.10267","kind":"arxiv","version":1}},"canonical_sha256":"e4a58196f7993dc7b1f78d316e3ff4bfbc7934eb1542048c82489fb365ae53b8","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e4a58196f7993dc7b1f78d316e3ff4bfbc7934eb1542048c82489fb365ae53b8","first_computed_at":"2026-06-10T01:09:03.353017Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T01:09:03.353017Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"96Vn4qZYSDYbUd33Z/nQnWbe1Z40PnQ7x6OI3+aV11RgJwcOa8FF+X1ZKOzVDJKdSbRZEmgMVoX7UXa5knQ0Cg==","signature_status":"signed_v1","signed_at":"2026-06-10T01:09:03.353834Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.10267","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:5132c016526dd8bc1cb8493f45eda1060688c156f22427a3ab3aed2745f30d2f","sha256:d196bc1ad1ab92267cfc2df78536c192820b687b122b1b3eeeb80689a0f0c0ad"],"state_sha256":"dbc08b94e803939bf9b89dfcd1a81d4b181554c53a11cde86ba184ed1fd0646f"}