{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:ZEITMKBRC2YO4EKIIOUTB6G2HU","short_pith_number":"pith:ZEITMKBR","schema_version":"1.0","canonical_sha256":"c91136283116b0ee114843a930f8da3d187573e0ca1a497afe0901bef281e390","source":{"kind":"arxiv","id":"2606.23420","version":1},"attestation_state":"computed","paper":{"title":"Flowing With Purpose: Latent Action Guided Flow Matching Policies For Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandre Chapin, Bruno Machado, Emmanuel Dellandrea, Liming Chen","submitted_at":"2026-06-22T14:42:59Z","abstract_excerpt":"Flow matching has recently become a new standard for behavior cloning in robotic manipulation. However, state-of-the-art flow matching policies suffer from a systematic structural mismatch: they rely on a globally fixed isotropic source distribution despite the strongly fragmented and heteroscedastic structure of robotic action spaces. This agnostic initialization forces the model to learn highly entangled vector fields, bottlenecking training efficiency and limiting overall policy performance. To address this limitation, we introduce Latent Action Guided Flow Matching (LAFM), a novel framewor"},"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":"2606.23420","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-22T14:42:59Z","cross_cats_sorted":[],"title_canon_sha256":"82620504b9471a66348a0dacd597c26dd1db9f3611c2230be860ae62a959c76e","abstract_canon_sha256":"0603d66aba663eb1cfe5b7888e5cca6a8523f0c4955e95a3b9dc0afd14d61b6e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-23T03:14:19.564142Z","signature_b64":"ZX65pCyemdWWfv2fdgz3i4d6pBYdhaQjo1HS7iiLaQ+EnOsCJZ2UDAFj8ofAjveTPWCo3RVhQuDmVu6I8AZlAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c91136283116b0ee114843a930f8da3d187573e0ca1a497afe0901bef281e390","last_reissued_at":"2026-06-23T03:14:19.563805Z","signature_status":"signed_v1","first_computed_at":"2026-06-23T03:14:19.563805Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Flowing With Purpose: Latent Action Guided Flow Matching Policies For Robotic Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Alexandre Chapin, Bruno Machado, Emmanuel Dellandrea, Liming Chen","submitted_at":"2026-06-22T14:42:59Z","abstract_excerpt":"Flow matching has recently become a new standard for behavior cloning in robotic manipulation. However, state-of-the-art flow matching policies suffer from a systematic structural mismatch: they rely on a globally fixed isotropic source distribution despite the strongly fragmented and heteroscedastic structure of robotic action spaces. This agnostic initialization forces the model to learn highly entangled vector fields, bottlenecking training efficiency and limiting overall policy performance. To address this limitation, we introduce Latent Action Guided Flow Matching (LAFM), a novel framewor"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.23420","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/2606.23420/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":"2606.23420","created_at":"2026-06-23T03:14:19.563861+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.23420v1","created_at":"2026-06-23T03:14:19.563861+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.23420","created_at":"2026-06-23T03:14:19.563861+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZEITMKBRC2YO","created_at":"2026-06-23T03:14:19.563861+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZEITMKBRC2YO4EKI","created_at":"2026-06-23T03:14:19.563861+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZEITMKBR","created_at":"2026-06-23T03:14:19.563861+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/ZEITMKBRC2YO4EKIIOUTB6G2HU","json":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU.json","graph_json":"https://pith.science/api/pith-number/ZEITMKBRC2YO4EKIIOUTB6G2HU/graph.json","events_json":"https://pith.science/api/pith-number/ZEITMKBRC2YO4EKIIOUTB6G2HU/events.json","paper":"https://pith.science/paper/ZEITMKBR"},"agent_actions":{"view_html":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU","download_json":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU.json","view_paper":"https://pith.science/paper/ZEITMKBR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.23420&json=true","fetch_graph":"https://pith.science/api/pith-number/ZEITMKBRC2YO4EKIIOUTB6G2HU/graph.json","fetch_events":"https://pith.science/api/pith-number/ZEITMKBRC2YO4EKIIOUTB6G2HU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU/action/storage_attestation","attest_author":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU/action/author_attestation","sign_citation":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU/action/citation_signature","submit_replication":"https://pith.science/pith/ZEITMKBRC2YO4EKIIOUTB6G2HU/action/replication_record"}},"created_at":"2026-06-23T03:14:19.563861+00:00","updated_at":"2026-06-23T03:14:19.563861+00:00"}