{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:XF5WNHGDA2DD2C2SOTXGXE57MG","short_pith_number":"pith:XF5WNHGD","canonical_record":{"source":{"id":"2603.02650","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2026-03-03T06:36:16Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"66e9d91b81359bd22fb05396f343e944ea7f3907ca578be99d69999d513fe339","abstract_canon_sha256":"45df2377df14f209d236af79e5b509521de952fb4f08fc9eb5bde88ea033b891"},"schema_version":"1.0"},"canonical_sha256":"b97b669cc306863d0b5274ee6b93bf61ba36ed8a1826b6110b32cb54fb60593b","source":{"kind":"arxiv","id":"2603.02650","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.02650","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"arxiv_version","alias_value":"2603.02650v2","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.02650","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_12","alias_value":"XF5WNHGDA2DD","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_16","alias_value":"XF5WNHGDA2DD2C2S","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_8","alias_value":"XF5WNHGD","created_at":"2026-06-02T02:04:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:XF5WNHGDA2DD2C2SOTXGXE57MG","target":"record","payload":{"canonical_record":{"source":{"id":"2603.02650","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2026-03-03T06:36:16Z","cross_cats_sorted":["cs.AI","cs.RO"],"title_canon_sha256":"66e9d91b81359bd22fb05396f343e944ea7f3907ca578be99d69999d513fe339","abstract_canon_sha256":"45df2377df14f209d236af79e5b509521de952fb4f08fc9eb5bde88ea033b891"},"schema_version":"1.0"},"canonical_sha256":"b97b669cc306863d0b5274ee6b93bf61ba36ed8a1826b6110b32cb54fb60593b","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-02T02:04:15.517703Z","signature_b64":"iYflL5thCjZPXX0U0RwtTm9rwirz0v4/w8Y0ZUaK3ykHo/7a8HOMFTfivGukRnxcvmQXgsokajsADOpST1xMAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b97b669cc306863d0b5274ee6b93bf61ba36ed8a1826b6110b32cb54fb60593b","last_reissued_at":"2026-06-02T02:04:15.517170Z","signature_status":"signed_v1","first_computed_at":"2026-06-02T02:04:15.517170Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.02650","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-02T02:04:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sZZdoRCHDKMXiT97MWxoKpVe+ea85gQdmF71YMIRMZyRncynyIIINV9Bx/3BjXsvfEUE3YQhv0/LTHdcc8NRCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T15:55:44.013422Z"},"content_sha256":"b5e9182224486a58602a0994238ccb4dd2a57b7acaf05b923071ce78e77b7973","schema_version":"1.0","event_id":"sha256:b5e9182224486a58602a0994238ccb4dd2a57b7acaf05b923071ce78e77b7973"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:XF5WNHGDA2DD2C2SOTXGXE57MG","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Improving Diffusion Planners by Self-Supervised Action Gating with Energies","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.RO"],"primary_cat":"cs.LG","authors_text":"Dongqi Han, Dongsheng Li, Yansen Wang, Yuan Lu","submitted_at":"2026-03-03T06:36:16Z","abstract_excerpt":"Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution. We propose Self-supervised Action Gating with Energies (SAGE), an inference-time re-ranking method that penalises dynamically inconsistent plans using a latent consistency signal. SAGE trains a Joint-Embedding Predictive Architecture (JEPA) encoder on offline state sequences and an action-conditioned latent predictor for short horizon transitions"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.02650","kind":"arxiv","version":2},"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/2603.02650/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":"2026-06-02T02:04:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GT3fqMt/xWjRns1vfJnNb4v8OkbiR8YthykD2fTYow55qW3pD7553hEV2VzUh4zOZov5E26lVID6WcN7Yg97AA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T15:55:44.013792Z"},"content_sha256":"a9958016a5517429f27c14829eb2ec5c9b579b0442030aafd70dfeddf90489b8","schema_version":"1.0","event_id":"sha256:a9958016a5517429f27c14829eb2ec5c9b579b0442030aafd70dfeddf90489b8"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/bundle.json","state_url":"https://pith.science/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/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":"2026-06-02T15:55:44Z","links":{"resolver":"https://pith.science/pith/XF5WNHGDA2DD2C2SOTXGXE57MG","bundle":"https://pith.science/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/bundle.json","state":"https://pith.science/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/state.json","well_known_bundle":"https://pith.science/.well-known/pith/XF5WNHGDA2DD2C2SOTXGXE57MG/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:XF5WNHGDA2DD2C2SOTXGXE57MG","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":"45df2377df14f209d236af79e5b509521de952fb4f08fc9eb5bde88ea033b891","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2026-03-03T06:36:16Z","title_canon_sha256":"66e9d91b81359bd22fb05396f343e944ea7f3907ca578be99d69999d513fe339"},"schema_version":"1.0","source":{"id":"2603.02650","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.02650","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"arxiv_version","alias_value":"2603.02650v2","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.02650","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_12","alias_value":"XF5WNHGDA2DD","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_16","alias_value":"XF5WNHGDA2DD2C2S","created_at":"2026-06-02T02:04:15Z"},{"alias_kind":"pith_short_8","alias_value":"XF5WNHGD","created_at":"2026-06-02T02:04:15Z"}],"graph_snapshots":[{"event_id":"sha256:a9958016a5517429f27c14829eb2ec5c9b579b0442030aafd70dfeddf90489b8","target":"graph","created_at":"2026-06-02T02:04:15Z","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/2603.02650/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Diffusion planners are a strong approach for offline reinforcement learning, but they can fail when value-guided selection favours trajectories that score well yet are locally inconsistent with the environment dynamics, resulting in brittle execution. We propose Self-supervised Action Gating with Energies (SAGE), an inference-time re-ranking method that penalises dynamically inconsistent plans using a latent consistency signal. SAGE trains a Joint-Embedding Predictive Architecture (JEPA) encoder on offline state sequences and an action-conditioned latent predictor for short horizon transitions","authors_text":"Dongqi Han, Dongsheng Li, Yansen Wang, Yuan Lu","cross_cats":["cs.AI","cs.RO"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2026-03-03T06:36:16Z","title":"Improving Diffusion Planners by Self-Supervised Action Gating with Energies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.02650","kind":"arxiv","version":2},"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:b5e9182224486a58602a0994238ccb4dd2a57b7acaf05b923071ce78e77b7973","target":"record","created_at":"2026-06-02T02:04:15Z","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":"45df2377df14f209d236af79e5b509521de952fb4f08fc9eb5bde88ea033b891","cross_cats_sorted":["cs.AI","cs.RO"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.LG","submitted_at":"2026-03-03T06:36:16Z","title_canon_sha256":"66e9d91b81359bd22fb05396f343e944ea7f3907ca578be99d69999d513fe339"},"schema_version":"1.0","source":{"id":"2603.02650","kind":"arxiv","version":2}},"canonical_sha256":"b97b669cc306863d0b5274ee6b93bf61ba36ed8a1826b6110b32cb54fb60593b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b97b669cc306863d0b5274ee6b93bf61ba36ed8a1826b6110b32cb54fb60593b","first_computed_at":"2026-06-02T02:04:15.517170Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-02T02:04:15.517170Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"iYflL5thCjZPXX0U0RwtTm9rwirz0v4/w8Y0ZUaK3ykHo/7a8HOMFTfivGukRnxcvmQXgsokajsADOpST1xMAw==","signature_status":"signed_v1","signed_at":"2026-06-02T02:04:15.517703Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.02650","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b5e9182224486a58602a0994238ccb4dd2a57b7acaf05b923071ce78e77b7973","sha256:a9958016a5517429f27c14829eb2ec5c9b579b0442030aafd70dfeddf90489b8"],"state_sha256":"ba90acbfa6bf8f484bc8cd01b917682346d4f6961ec8971fd01deb493cb786b0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m0yAQMOTysnJa/Ad9lHCFMXYbIvHLoYXRRpgcdgumX0g9mwrr3IVR1mIcv7uytqiTbFg7yiPDQk2ZxAcIeGrBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T15:55:44.015717Z","bundle_sha256":"b668ea4fec6bccc19f4be1481687b74451b50526238e1d7e1faa0fe1c36ab2fc"}}