{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:VPCKF2DD7NFB2HECOCTSJQI3XZ","short_pith_number":"pith:VPCKF2DD","schema_version":"1.0","canonical_sha256":"abc4a2e863fb4a1d1c8270a724c11bbe63aa3a942ebc3278ce6a281802641d73","source":{"kind":"arxiv","id":"2606.30613","version":1},"attestation_state":"computed","paper":{"title":"Sequential Planning via Anchored Robotic Keypoints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aryeh Rothenberg, Bryce Grant, Logan Senning, Peng Wang, Zach Patterson, Zonghe Chua","submitted_at":"2026-06-29T17:48:01Z","abstract_excerpt":"We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \\& task cells, more than doubling CaP-Agent0 and Vision-Language-Action (VLA) baselines. CaP-Agent0, a multi-turn code-generation agent, achieves 18.2% by re-querying an LLM at every turn, but its restart-from-scratch solution proves costly against minor policy failures. Perception is the layer that fails most under position and task changes so SPARK spends its computation there. A single Gemini call composes the plan as a typed b"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.30613","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T17:48:01Z","cross_cats_sorted":[],"title_canon_sha256":"c6870cd9c534182f00fc0e86e8380f4afccad326b2c0f4eb81739d5644da9134","abstract_canon_sha256":"b4c6adbb11076c22693548198d1bff8850df83cef7d32c18d70d896cbd413acc"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-30T02:18:22.661613Z","signature_b64":"Mx1zXXO5uxOn6M9/UwkF4PVYdrybyI01WZhi8ydocmrWOmzNGlCkq6y6CcMPEbNUnouqBd44m6d5xtBqYVgLBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"abc4a2e863fb4a1d1c8270a724c11bbe63aa3a942ebc3278ce6a281802641d73","last_reissued_at":"2026-06-30T02:18:22.661047Z","signature_status":"signed_v1","first_computed_at":"2026-06-30T02:18:22.661047Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Sequential Planning via Anchored Robotic Keypoints","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aryeh Rothenberg, Bryce Grant, Logan Senning, Peng Wang, Zach Patterson, Zonghe Chua","submitted_at":"2026-06-29T17:48:01Z","abstract_excerpt":"We present Sequential Planning via Anchored Robotic Keypoints, SPARK, a training-free neurosymbolic manipulation system that reaches 43.7% on six LIBERO-PRO position \\& task cells, more than doubling CaP-Agent0 and Vision-Language-Action (VLA) baselines. CaP-Agent0, a multi-turn code-generation agent, achieves 18.2% by re-querying an LLM at every turn, but its restart-from-scratch solution proves costly against minor policy failures. Perception is the layer that fails most under position and task changes so SPARK spends its computation there. A single Gemini call composes the plan as a typed b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.30613","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/2606.30613/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.30613","created_at":"2026-06-30T02:18:22.661132+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.30613v1","created_at":"2026-06-30T02:18:22.661132+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.30613","created_at":"2026-06-30T02:18:22.661132+00:00"},{"alias_kind":"pith_short_12","alias_value":"VPCKF2DD7NFB","created_at":"2026-06-30T02:18:22.661132+00:00"},{"alias_kind":"pith_short_16","alias_value":"VPCKF2DD7NFB2HEC","created_at":"2026-06-30T02:18:22.661132+00:00"},{"alias_kind":"pith_short_8","alias_value":"VPCKF2DD","created_at":"2026-06-30T02:18:22.661132+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ","json":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ.json","graph_json":"https://pith.science/api/pith-number/VPCKF2DD7NFB2HECOCTSJQI3XZ/graph.json","events_json":"https://pith.science/api/pith-number/VPCKF2DD7NFB2HECOCTSJQI3XZ/events.json","paper":"https://pith.science/paper/VPCKF2DD"},"agent_actions":{"view_html":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ","download_json":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ.json","view_paper":"https://pith.science/paper/VPCKF2DD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.30613&json=true","fetch_graph":"https://pith.science/api/pith-number/VPCKF2DD7NFB2HECOCTSJQI3XZ/graph.json","fetch_events":"https://pith.science/api/pith-number/VPCKF2DD7NFB2HECOCTSJQI3XZ/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ/action/timestamp_anchor","attest_storage":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ/action/storage_attestation","attest_author":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ/action/author_attestation","sign_citation":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ/action/citation_signature","submit_replication":"https://pith.science/pith/VPCKF2DD7NFB2HECOCTSJQI3XZ/action/replication_record"}},"created_at":"2026-06-30T02:18:22.661132+00:00","updated_at":"2026-06-30T02:18:22.661132+00:00"}