{"_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_4ce83b7cf9c92d4fa63222840d16898fb3a73ebeb115484ee1d82cfa4aaa2e19","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_4ce83b7cf9c92d4fa63222840d16898fb3a73ebeb115484ee1d82cfa4aaa2e19","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"6ee6007d1d848cca2e53d388c1937b5d53abb6bc445679bc37d7cb04d463046d","published":"Tue, 07 Jul 2026 00:00:00 -0400","receipt_hash":"6ee6007d1d848cca2e53d388c1937b5d53abb6bc445679bc37d7cb04d463046d","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":"6ee6007d1d848cca2e53d388c1937b5d53abb6bc445679bc37d7cb04d463046d","observed_at":"2026-07-07T04:43:08.294902Z","parent_run_hash":"fc40a96e5d33ecc82922806c3ad18de4725d7af03964570396c8af4e48fb5bc1","published":"Tue, 07 Jul 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:2607.04265v1 Announce Type: cross \nAbstract: World-action (WA) models can generate long-horizon action chunks for general-purpose robotic manipulation, but they remain vulnerable to calibration, perception, and contact-dynamics errors in real-world precision tasks, often failing in the final few millimeters of alignment or insertion. We propose HALO-WA, a hybrid-attention latent-guided online reinforcement learning (RL) framework for WA models, which leverages latent features and action priors from the WA generation process through a lightweight actor-critic adapter to enable fast online adaptation to real deployment errors. HALO-WA introduces a hybrid-attention structure that preserves the temporal consistency of action chunks while reading task-relevant information from WA latents conditioned on visual context and end-stage correction requirements, thereby producing refined action chunks. We validate HALO-WA on four real-world precision manipulation tasks, where it improves the","title":"HALO-WA: Hybrid-Attention Latent-Guided Online Reinforcement Learning for World-Action Models","url":"https://arxiv.org/abs/2607.04265","vendor":"arxiv_cs_ai"},"summary":"arXiv:2607.04265v1 Announce Type: cross \nAbstract: World-action (WA) models can generate long-horizon action chunks for general-purpose robotic manipulation, but they remain vulnerable to calibration, perception, and contact-dynamics errors in real-world precision tasks, often failing in the final few millimeters of alignment or insertion. We propose HALO-WA, a hybrid-attention latent-guided online reinforcement learning (RL) framework for WA models, which leverages latent features and action priors from the WA generation process through a lightweight actor-critic adapter to enable fast online adaptation to real deployment errors. HALO-WA introduces a hybrid-attention structure that preserves the temporal consistency of action chunks while reading task-relevant information from WA latents conditioned on visual context and end-stage correction requirements, thereby producing refined action chunks. We validate HALO-WA on four real-world precision manipulation tasks, where it improves the","title":"HALO-WA: Hybrid-Attention Latent-Guided Online Reinforcement Learning for World-Action Models","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-07-07T04:43:08Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2607.04265"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:7f90fba27b3e760ff36973c0205ee2f8694451be4c99ba993e1b5fdbdb51a450a0de1f7cb54cf0006c7c26d2d6515a28690d5d0c92dcfd081b4d9ad31dc2340b","signer":"crovia.substrate","subject":{"observed_at":"2026-07-07T04:43:08Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2607.04265"},"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":"7e70f76d52a451e8f217f5a0d0064042411eca8051ba2319cf9fe73c89c5ad1f","leaf_index":289036,"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":"29f7a31f45595a185a2a036ddc52478d2e0215e0f57399bb3a8f355961140e1c","side":"right"},{"sibling":"fd1a8f848a2fdaa80e6fbdc4ab8644938cc1cef461072cbab3ee87155df7dc62","side":"right"},{"sibling":"b04fbe66f7c226642ad63539ce3a051a8deae1e039bdb894cd52fe9e17b3ac7e","side":"left"},{"sibling":"3b7a495896862649ead2f104dc23701c1381564d7d6b3a1fd6f29d72326e2ef6","side":"left"},{"sibling":"939b796ebb43e1659943bd0a95c64186e25fe25719edbf840a7932e8a393179b","side":"right"},{"sibling":"e924b69c50c87915e35c49c68162276635ed10e79f8c56b2fb86e53e0967805f","side":"right"},{"sibling":"c3e53593f0d15a00effd5c8c5a5e631e06f64f32896f73801edae507488da3ab","side":"right"},{"sibling":"3b53d97c225577b0a2d53eeb1ca093f0c3441edf0f64e622c325f18db4fae31c","side":"right"},{"sibling":"35d3e8088ee93171aa479055dcd001cfb6d23925114ddc0908531e54298b0d29","side":"left"},{"sibling":"841129c21a7583176cdc7de281cadfe0e00d04673461e199760cd5128d8cc2d5","side":"right"},{"sibling":"19d6dfd29bc47f35fa02e8fe765277ba9cc3e6da5072309f24ebaac5b5f295e3","side":"right"},{"sibling":"8e0ad7889eb2d4b40e5b6c3d8e2eb19d4e202374983f468aa76321823de07a9f","side":"left"},{"sibling":"aae716235efcb893a1f219dbcd5095070d08a497769fc6d50c14976aa26d5750","side":"right"},{"sibling":"a75ab4319e241beeddb1b3f5705febe0422937926c3479923ccfb0b0082fa4e3","side":"left"},{"sibling":"bd04fa605f883bfb2b81510d045b1e85e555a03da3be083619f61384dfe40ff8","side":"left"},{"sibling":"1b72ad8d12164fdf329e7871711be99d8569d140b21f94056e6962da21da9ce1","side":"right"},{"sibling":"5f5109c2bfdcc7a7e70554bba25862e2d7ce86b6b0cd48a72eb66d2eb735f321","side":"right"},{"sibling":"05fd8a05dddb2e7f72bbb5b290ca55c378f1aed709f132277908d9a5f30eb605","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","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":289613,"merkle_root":"dc428b9d9ba248d4f93f63147bf7c700bf5be7f500cec6c3507b9df6e9401601","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260707T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-07-07T05:38:15Z","sig_algorithm":"ed25519","signature":"c468b0e183383ab71992be40bda451093e6cd8cd8efb0d26f68e135a804b287c209d12a0f4fdd95c69c835c04b78df8cb1903dee1f53d4730b36f5332a29fe05","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_4ce83b7cf9c92d4fa63222840d16898fb3a73ebeb115484ee1d82cfa4aaa2e19"}}