{"_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_3f2d5ff3583a35a96aa37ebb519964b18ca1c0e0e71ab50d73278fd5ffe20a9a","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_3f2d5ff3583a35a96aa37ebb519964b18ca1c0e0e71ab50d73278fd5ffe20a9a","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"846d60f84d9288d45b34ab8b7eac4869c5f5a12e9738960fefca03b23c4ccda5","published":"Tue, 19 May 2026 00:00:00 -0400","receipt_hash":"846d60f84d9288d45b34ab8b7eac4869c5f5a12e9738960fefca03b23c4ccda5","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":"846d60f84d9288d45b34ab8b7eac4869c5f5a12e9738960fefca03b23c4ccda5","observed_at":"2026-05-19T04:43:36.782648Z","parent_run_hash":"fefa4c726316a95c5dda9fc1ca07a38a811cf7ffa9825b2f09b365abacd9b32d","published":"Tue, 19 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:2602.12978v2 Announce Type: replace-cross \nAbstract: Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking (RTC) alleviates this issue but is external to the policy, leading to spurious multimodal switching and trajectories that are not intrinsically smooth. We propose Legato, a training-time continuation method for action-chunked flow-based VLA policies. Specifically, Legato initializes denoising from a schedule-shaped mixture of known actions and noise, exposing the model to partial action information. Moreover, Legato reshapes the learned flow dynamics to ensure that the denoising process remains consistent between training and inference under per-step guidance. Legato further uses randomized schedule condition during training to support varying inference delays and achieve controllable smoothness. Empirically, Legato produces smoother trajectories and ","title":"Learning Native Continuation for Action Chunking Flow Policies","url":"https://arxiv.org/abs/2602.12978","vendor":"arxiv_cs_ai"},"summary":"arXiv:2602.12978v2 Announce Type: replace-cross \nAbstract: Action chunking enables Vision Language Action (VLA) models to run in real time, but naive chunked execution often exhibits discontinuities at chunk boundaries. Real-Time Chunking (RTC) alleviates this issue but is external to the policy, leading to spurious multimodal switching and trajectories that are not intrinsically smooth. We propose Legato, a training-time continuation method for action-chunked flow-based VLA policies. Specifically, Legato initializes denoising from a schedule-shaped mixture of known actions and noise, exposing the model to partial action information. Moreover, Legato reshapes the learned flow dynamics to ensure that the denoising process remains consistent between training and inference under per-step guidance. Legato further uses randomized schedule condition during training to support varying inference delays and achieve controllable smoothness. Empirically, Legato produces smoother trajectories and ","title":"Learning Native Continuation for Action Chunking Flow Policies","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-05-19T04:43:36Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2602.12978"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:dd3f7acb4b514e763166488521fa5870791426deea9dc52af57cbaacee9b580ae9968ebed274c70083325f56b33a5211603ad8db4d8890b3ca9bbc49c10d6d00","signer":"crovia.substrate","subject":{"observed_at":"2026-05-19T04:43:36Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2602.12978"},"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":"95feef8f4593a986934fad28ca4c48d86a1942275778891f58e18a3475b901c0","leaf_index":143141,"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":"da6e96f9f4240e44d080d060cfe2d5df4bebabfe883f59738f8861e55583156c","side":"left"},{"sibling":"7ab07ae50f382bab2e0190f467e297138c3b681aee4c2f79b71f79577d3d5356","side":"right"},{"sibling":"e09b94f317a5df24540d0a3d07484f2c66fc3bd3892e161529a21e004ea7fc4c","side":"left"},{"sibling":"aecb72ad23315b16d0538247b18a631530b484320ba8ea4202867857372dd4ec","side":"right"},{"sibling":"560c68b9403df854340dfd382308eff7f6ac42aa54e59d9243b664bd9b27a1b0","side":"right"},{"sibling":"64a5ec52eed2a8189bc3dcf5ead2feaebbee89147caaa56d81f5d48755a48d02","side":"left"},{"sibling":"85fd29731e65c36b4f2a5f4f39c039cb540b551881d70cd5789c3e56208c17c8","side":"right"},{"sibling":"4b6dab10c74fb2a96436053a067988cc08e1b2f810f1362c194b7439e788d860","side":"right"},{"sibling":"b986468aca0b7804b8a608705cafc663139e79ff550a69be0b9dd58ec70714f7","side":"left"},{"sibling":"db97141c585f6a1e6bebe92b3ea300ea0f38a2321ca286d85850b11b2dd162a6","side":"left"},{"sibling":"202f1bead178ef3785968d50d3d188264a95192a077654c331612e04a34cbfbe","side":"left"},{"sibling":"72249c8c8b068386e35d16f4bd0bbeb9ba820ca217ef0f0d28396c9fe493f5f0","side":"left"},{"sibling":"ea64599340f7ffdf17ad0cbc1d9401ef8870a347e3847bdc106d06b1673df09c","side":"right"},{"sibling":"8f4c0fbe56b6c010fbb8c782ebcd478079bb3f991d8704e2534209a075d9163c","side":"left"},{"sibling":"4db1f363729507e27a60851cf6ed334d7b9acdef194ed7d419aba4d2bd367a4a","side":"right"},{"sibling":"a86ee18c45e7fcc408b6007eaece05aa75b2d9ae30252e9e878462b4dffbef7b","side":"right"},{"sibling":"1d18e7663d43ccff0122ecc7ee12645bb16afb607b218e81b1ea2408f863cb78","side":"right"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"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":143302,"merkle_root":"999156d40a7c61d9ddd52b7338f3cbda3e68f53bace070c7b616ea194e23b123","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260519T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-05-19T05:37:30Z","sig_algorithm":"ed25519","signature":"b1a252cc66ff32bed1d10dd88a6b2a200e3856d3dbcfcc4ee55e02e00f3d548e854ed9c544704b222bd5d315492c4a935ba2d90d727c585a67899b0ad602fc05","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_3f2d5ff3583a35a96aa37ebb519964b18ca1c0e0e71ab50d73278fd5ffe20a9a"}}