Pith Number

pith:NCQ4Y6O6

pith:2026:NCQ4Y6O6RR6RJASGGDGJ6I3DJG

not attested not anchored not stored refs pending

DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors

Chenfeng Xu, Chensheng Peng, Chen Tang, Kaiwen Hong, Katherine Driggs-Campbell, Masayoshi Tomizuka, Pengcheng Wang

Discrete diffusion policies act as natural asynchronous executors because iterative unmasking makes inpainting native to them.

arxiv:2604.25050 v2 · 2026-04-27 · cs.RO

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\usepackage{pith}
\pithnumber{NCQ4Y6O6RR6RJASGGDGJ6I3DJG}

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Record completeness

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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.

Claims

C1strongest claim

discrete diffusion policies, which generate actions by iteratively unmasking, are natural asynchronous executors that resolve all limitations at once: they are fine-tuning free since inpainting is their native operation, while early stopping further provides adaptive guidance and reduces inference cost.

C2weakest assumption

That a discrete diffusion policy trained on standard offline data will produce consistent, high-quality inpainted continuations for committed action chunks in dynamic environments without quality degradation or the need for task-specific adaptations.

C3one line summary

Discrete diffusion policies support native asynchronous execution via unmasking for real-time chunking, delivering higher success rates and 0.7x inference cost versus flow-matching RTC on dynamic robotics benchmarks and real pick tasks.

Receipt and verification

First computed	2026-06-03T02:05:47.825243Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

68a1cc79de8c7d14824630cc9f2363499e82b1df5e2a7786b861eafdfbcae370

Aliases

arxiv: 2604.25050 · arxiv_version: 2604.25050v2 · doi: 10.48550/arxiv.2604.25050 · pith_short_12: NCQ4Y6O6RR6R · pith_short_16: NCQ4Y6O6RR6RJASG · pith_short_8: NCQ4Y6O6

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/NCQ4Y6O6RR6RJASGGDGJ6I3DJG \
  | 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: 68a1cc79de8c7d14824630cc9f2363499e82b1df5e2a7786b861eafdfbcae370

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "3c7627d1e6bad580980d2aa1e31a092a11cb7650262eca699236bee7bdf49096",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-27T23:04:03Z",
    "title_canon_sha256": "d707a159433e1e7694bc93e70ab3a2451266f985396449b56103849642d80dc2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.25050",
    "kind": "arxiv",
    "version": 2
  }
}