{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_0e802a0671c14365d8ce032b2a76a1f05e9e67c5f812a78c93363e860443b913","bitcoin_anchor":{"bitcoin_attestations":["bitcoin_block_949451"],"calendar_attestations":["https://finney.calendar.eternitywall.com","https://btc.calendar.catallaxy.com","https://alice.btc.calendar.opentimestamps.org","https://bob.btc.calendar.opentimestamps.org"],"ots_url":"/registry/data/substrate/anchors/77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3.ots","stamped_at":"2026-05-15T03:00:03Z","status":"bitcoin"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_0e802a0671c14365d8ce032b2a76a1f05e9e67c5f812a78c93363e860443b913","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"258b1bde37f4eb5944659f63f96019510d0c4abfdb02060330d6fa02eb75cbaa","published":"Mon, 11 May 2026 00:00:00 -0400","receipt_hash":"258b1bde37f4eb5944659f63f96019510d0c4abfdb02060330d6fa02eb75cbaa","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"258b1bde37f4eb5944659f63f96019510d0c4abfdb02060330d6fa02eb75cbaa","observed_at":"2026-05-11T04:43:50.688999Z","parent_run_hash":"8244cc3d66edb4604be5ded19e92c0b47893b228a258432a9c53a5796a870982","published":"Mon, 11 May 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2605.07381v1 Announce Type: cross \nAbstract: While Vision-Language-Action (VLA) models offer broad general capabilities, deploying them on specific hardware requires real-world adaptation to bridge the embodiment gap. Since robot demonstrations are costly, this adaptation must often occur under a strict data budget. In this work, we identify a critical diversity trap: the standard heuristic of \"maximizing coverage\" by collecting diverse, single-shot demonstrations can be self-defeating due to non-vanishing estimation noise. We formalize this phenomenon as a Coverage--Density Trade-off. By decomposing the policy error into estimation (density) and extrapolation (coverage) terms, we characterize an interior optimal allocation of unique conditions for a fixed budget. Guided by this analysis, we propose Anchor-Centric Adaptation (ACA), a two-stage framework that first stabilizes a policy skeleton through repeated demonstrations at core anchors, then selectively expands coverage to hi","title":"Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation","url":"https://arxiv.org/abs/2605.07381","vendor":"arxiv_cs_ai"},"summary":"arXiv:2605.07381v1 Announce Type: cross \nAbstract: While Vision-Language-Action (VLA) models offer broad general capabilities, deploying them on specific hardware requires real-world adaptation to bridge the embodiment gap. Since robot demonstrations are costly, this adaptation must often occur under a strict data budget. In this work, we identify a critical diversity trap: the standard heuristic of \"maximizing coverage\" by collecting diverse, single-shot demonstrations can be self-defeating due to non-vanishing estimation noise. We formalize this phenomenon as a Coverage--Density Trade-off. By decomposing the policy error into estimation (density) and extrapolation (coverage) terms, we characterize an interior optimal allocation of unique conditions for a fixed budget. Guided by this analysis, we propose Anchor-Centric Adaptation (ACA), a two-stage framework that first stabilizes a policy skeleton through repeated demonstrations at core anchors, then selectively expands coverage to hi","title":"Escaping the Diversity Trap in Robotic Manipulation via Anchor-Centric Adaptation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-11T04:43:50Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2605.07381"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:dedffa1d071ced0827236b7d5ab9e492cbe1c37f10a4ebbef0f905c9fe3eec924a916f981cf0ee50dcbf98fa1785bbeb812ccf919fb0f0d87dd6a50ab60f6d04","signer":"crovia.substrate","subject":{"observed_at":"2026-05-11T04:43:50Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2605.07381"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"0113d439c4626662ecaa6ab8fbfbd64c55baaeaaf68573f5b7bc69fc45236ff2","leaf_index":126466,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"0e7e810f558001e851c952de586f67317196cbfcb9a98aedbb70cfd8fdd5ba59","side":"right"},{"sibling":"f49e8bb817801d6ae0d47999bf525718bee5a50c06b8d8873da64b6973407754","side":"left"},{"sibling":"ba564da5f6408a2cb7080412a57365f5d06530d4e42dc70ba03431207551bf03","side":"right"},{"sibling":"91a5b2d9e45f77827deb0bb4b823f8ce6ac2e6acb0254feb096bd33a57f402c0","side":"right"},{"sibling":"77dec96de78c7823e4e2b44d5be7868c4b0f018db99bef199158f98cbaea8f48","side":"right"},{"sibling":"e63dc79193f59065db84ae5c3e86878f8cc8953d9824c2b19dd390d4c20e9da2","side":"right"},{"sibling":"712d82c59eb28255f7ca26083df3589f2a51f6b061f866524d06eb1cc905f939","side":"right"},{"sibling":"ad7b1a4dca274f08be7bc11dcd03ffbe41ba3906e71a39530ef457984a3802ed","side":"right"},{"sibling":"62d48549e4d4466089a57a96bd9bea15741d62a7cb314f0f9c37c4c22ac650fa","side":"right"},{"sibling":"a2c696699a233359c7b4b418ebd356db453d4b886f4bd076ef34b15ee86144a3","side":"left"},{"sibling":"1a581be91236d1f25e8d47fe5efa0e2b51b7f0f6d706ef76a9093067688e5d56","side":"left"},{"sibling":"878cc30108509c9fa1fc52705a216f519d73b647916fcbdfc30a389934d3364b","side":"left"},{"sibling":"ae7dfff36ba07d9f48c36c28a341482ef244ee13cd0efd49aee2bbef2fd65f87","side":"right"},{"sibling":"62ac6554017807bd83187f5a3e5f4f72d6c482616429c2780e9fff1f4845fa04","side":"left"},{"sibling":"3a5e69cf0803f4c91f3895ed7c9a95748fef240bec4422e167c05300f79f06c0","side":"left"},{"sibling":"f2817ab288b5324fe49770372c7a10f33f7cd11005f8d4c0a730316f5229dc98","side":"left"},{"sibling":"725fac972e772ca0dc598810ea1abc70df472f72d2d6ab8a0baee2b80e5d2f4c","side":"left"},{"sibling":"98fc57dfef8873b512edc8340f7181df57302bb96777625e072235c62d7c5895","side":"right"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":134292,"merkle_root":"77fc9c28fae777b81da5b495b3115474df6592dfac590333213d3bdf8b94a9b3","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260515T023701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-15T02:37:25Z","sig_algorithm":"ed25519","signature":"68107a834b00b24f5d4501e5ec727445311f132a486567ecc4c72a4e6dff24c8c21f2de3105293353ba5fdbe370d032819af6aa70f694e2e39b6af6737507009","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_0e802a0671c14365d8ce032b2a76a1f05e9e67c5f812a78c93363e860443b913"}}