Pith Number

pith:NX3VW23T

pith:2026:NX3VW23TLUYQ7LDNLPAJGQUMYF

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AnySlot: Goal-Conditioned Vision-Language-Action Policies for Zero-Shot Slot-Level Placement

Ci-Jyun Liang, Jorge Mendez-Mendz, Qinbo Zhang, Qi Su, Rongtao Xu, Sifan Zhou, Zhaofeng Hu

AnySlot generates an explicit visual scene marker from language to let goal-conditioned VLA policies handle precise zero-shot slot placement.

arxiv:2604.10432 v3 · 2026-04-12 · cs.RO

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\pithnumber{NX3VW23TLUYQ7LDNLPAJGQUMYF}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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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

AnySlot significantly outperforms flat VLA baselines and previous modular grounding methods in zero-shot slot-level placement.

C2weakest assumption

That generating a reliable scene marker from language instructions is always possible and that the goal-conditioned policy can consistently achieve the required sub-centimeter spatial accuracy without additional fine-tuning or domain-specific data.

C3one line summary

AnySlot decouples language grounding from low-level control by inserting an explicit visual goal image, yielding better zero-shot performance on precise slot placement tasks than flat VLA policies.

Receipt and verification

First computed	2026-06-01T01:02:39.392374Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6df75b6b735d310fac6d5bc093428cc17b12fdbe0aad900ef329b70ee1704c1e

Aliases

arxiv: 2604.10432 · arxiv_version: 2604.10432v3 · doi: 10.48550/arxiv.2604.10432 · pith_short_12: NX3VW23TLUYQ · pith_short_16: NX3VW23TLUYQ7LDN · pith_short_8: NX3VW23T

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/NX3VW23TLUYQ7LDNLPAJGQUMYF \
  | 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: 6df75b6b735d310fac6d5bc093428cc17b12fdbe0aad900ef329b70ee1704c1e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "2ebe52d0beed5ebb0273e1540e0c18d7b60aae9ddae4d1da81fbb5096ae7aa80",
    "cross_cats_sorted": [],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-12T03:09:44Z",
    "title_canon_sha256": "f9df4a0442c5866e1f58b9ecce9ea10256ed2be905ecb74482c27e26ef8f850e"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.10432",
    "kind": "arxiv",
    "version": 3
  }
}