{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:LJMQBTG6ZRQCHEPC7FQYFLT6DC","short_pith_number":"pith:LJMQBTG6","canonical_record":{"source":{"id":"2606.19784","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T04:36:57Z","cross_cats_sorted":[],"title_canon_sha256":"f0c99958279c99257faec825c9fbd639ac32ec903d28981e438ef0f8e56981c4","abstract_canon_sha256":"cb27bf52000a7284aed565c603e39012c36b8465e5c6849b8494e8825fdf1194"},"schema_version":"1.0"},"canonical_sha256":"5a5900ccdecc602391e2f96182ae7e1886c82f9d50280a4a38b19f8e1bc58985","source":{"kind":"arxiv","id":"2606.19784","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19784","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19784v1","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19784","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_12","alias_value":"LJMQBTG6ZRQC","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_16","alias_value":"LJMQBTG6ZRQCHEPC","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_8","alias_value":"LJMQBTG6","created_at":"2026-06-19T16:12:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:LJMQBTG6ZRQCHEPC7FQYFLT6DC","target":"record","payload":{"canonical_record":{"source":{"id":"2606.19784","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T04:36:57Z","cross_cats_sorted":[],"title_canon_sha256":"f0c99958279c99257faec825c9fbd639ac32ec903d28981e438ef0f8e56981c4","abstract_canon_sha256":"cb27bf52000a7284aed565c603e39012c36b8465e5c6849b8494e8825fdf1194"},"schema_version":"1.0"},"canonical_sha256":"5a5900ccdecc602391e2f96182ae7e1886c82f9d50280a4a38b19f8e1bc58985","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:12:35.057080Z","signature_b64":"VR3v6aVBdY15/Ln/X6Rg/V4NTB6yGd4tHHTEypgSCzi5jnk3iFND0fVE3806MZWcJbYwNlmw/R0itgPktVEXBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5a5900ccdecc602391e2f96182ae7e1886c82f9d50280a4a38b19f8e1bc58985","last_reissued_at":"2026-06-19T16:12:35.056639Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:12:35.056639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.19784","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":"2026-06-19T16:12:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"cgBISVaoAWxuY0NmHafI3YieD9tQ96Irin/9ZrJ6DGbpCjls+wVsDCApbpLAVcHLM5bYN4WSQrq4RtCSI22oCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T09:20:06.152126Z"},"content_sha256":"10043cf126a6beac353101336af38fc0609e5b3d6ee9158a47f7e7c2ec813966","schema_version":"1.0","event_id":"sha256:10043cf126a6beac353101336af38fc0609e5b3d6ee9158a47f7e7c2ec813966"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:LJMQBTG6ZRQCHEPC7FQYFLT6DC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"An Thai Le, Duy M. H. Nguyen, Gia-Binh Nguyen, Long Dinh, Minh Duc Nguyen, Minh N. Vu, Ngo Anh Vien, Pham Tri Quang, Quang-Tan Nguyen, Thien-Loc Ha, Trong-Bao Ho","submitted_at":"2026-06-18T04:36:57Z","abstract_excerpt":"Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet they lack geometric inductive biases: policies trained at specific orientations require substantially more data to generalize across rotational configurations. We present \\textsc{EquiVLA}, the first general framework for end-to-end $\\mathrm{SO}(2)$-equivariant VLA models, applicable to any architecture coupling a frozen vision-language backbone with a flow-matching Diffusion Transformer action head. \\textsc{EquiVLA} introduces \\textsc{EquiPerceptor}, which produces approximately $\\mat"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19784","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/2606.19784/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":"2026-06-19T16:12:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"szq7TZgmKU8lfGUqGpWCm63vMhAWYR8bTHvdBJgfdCGbD2lLZw2dzyGmifu4VKrxDjtFWKbl8rZYaVDNrovVDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-22T09:20:06.152752Z"},"content_sha256":"9b3d296f46b85bb22b5fe512fa45314cb0549db53ed687988822c720da645482","schema_version":"1.0","event_id":"sha256:9b3d296f46b85bb22b5fe512fa45314cb0549db53ed687988822c720da645482"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/bundle.json","state_url":"https://pith.science/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/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":"2026-06-22T09:20:06Z","links":{"resolver":"https://pith.science/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC","bundle":"https://pith.science/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/bundle.json","state":"https://pith.science/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LJMQBTG6ZRQCHEPC7FQYFLT6DC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:LJMQBTG6ZRQCHEPC7FQYFLT6DC","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":"cb27bf52000a7284aed565c603e39012c36b8465e5c6849b8494e8825fdf1194","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T04:36:57Z","title_canon_sha256":"f0c99958279c99257faec825c9fbd639ac32ec903d28981e438ef0f8e56981c4"},"schema_version":"1.0","source":{"id":"2606.19784","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.19784","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"arxiv_version","alias_value":"2606.19784v1","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.19784","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_12","alias_value":"LJMQBTG6ZRQC","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_16","alias_value":"LJMQBTG6ZRQCHEPC","created_at":"2026-06-19T16:12:35Z"},{"alias_kind":"pith_short_8","alias_value":"LJMQBTG6","created_at":"2026-06-19T16:12:35Z"}],"graph_snapshots":[{"event_id":"sha256:9b3d296f46b85bb22b5fe512fa45314cb0549db53ed687988822c720da645482","target":"graph","created_at":"2026-06-19T16:12:35Z","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/2606.19784/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Vision-Language-Action (VLA) models have emerged as a powerful paradigm for generalist robot manipulation, yet they lack geometric inductive biases: policies trained at specific orientations require substantially more data to generalize across rotational configurations. We present \\textsc{EquiVLA}, the first general framework for end-to-end $\\mathrm{SO}(2)$-equivariant VLA models, applicable to any architecture coupling a frozen vision-language backbone with a flow-matching Diffusion Transformer action head. \\textsc{EquiVLA} introduces \\textsc{EquiPerceptor}, which produces approximately $\\mat","authors_text":"An Thai Le, Duy M. H. Nguyen, Gia-Binh Nguyen, Long Dinh, Minh Duc Nguyen, Minh N. Vu, Ngo Anh Vien, Pham Tri Quang, Quang-Tan Nguyen, Thien-Loc Ha, Trong-Bao Ho","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T04:36:57Z","title":"EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Models"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.19784","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":"sha256:10043cf126a6beac353101336af38fc0609e5b3d6ee9158a47f7e7c2ec813966","target":"record","created_at":"2026-06-19T16:12:35Z","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":"cb27bf52000a7284aed565c603e39012c36b8465e5c6849b8494e8825fdf1194","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-18T04:36:57Z","title_canon_sha256":"f0c99958279c99257faec825c9fbd639ac32ec903d28981e438ef0f8e56981c4"},"schema_version":"1.0","source":{"id":"2606.19784","kind":"arxiv","version":1}},"canonical_sha256":"5a5900ccdecc602391e2f96182ae7e1886c82f9d50280a4a38b19f8e1bc58985","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5a5900ccdecc602391e2f96182ae7e1886c82f9d50280a4a38b19f8e1bc58985","first_computed_at":"2026-06-19T16:12:35.056639Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:12:35.056639Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VR3v6aVBdY15/Ln/X6Rg/V4NTB6yGd4tHHTEypgSCzi5jnk3iFND0fVE3806MZWcJbYwNlmw/R0itgPktVEXBg==","signature_status":"signed_v1","signed_at":"2026-06-19T16:12:35.057080Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.19784","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:10043cf126a6beac353101336af38fc0609e5b3d6ee9158a47f7e7c2ec813966","sha256:9b3d296f46b85bb22b5fe512fa45314cb0549db53ed687988822c720da645482"],"state_sha256":"46a8a65bfa4788a2ae65332d1b51cb7a92e36ee2c60bdc007e606b8fbdcc0f9f"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mx866anSD5htdCYsxl0qHrS/lUIyQp5jRTda/BnkcDNcKuxhyoWIAF/E+GLzMh6l00eeaz4v/ZDQw8aNGSiGBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-22T09:20:06.155552Z","bundle_sha256":"9bcd4889fe9c85b334c44380b470c83fef4a52db67d447b24963cb493a62770a"}}