On the Arithmetic Fundamental Lemma in the minuscule case

The arithmetic fundamental lemma conjecture of the third author connects the derivative of an orbital integral on a symmetric space with an intersection number on a formal moduli space of $p$-divisible groups of Picard type. It arises in the relative trace formula approach to the arithmetic Gan-Gross-Prasad conjecture. We prove this conjecture in the minuscule case.
Comment: Referee's comments incorporated; in particular, the existence of frames for using the theory of displays in the proofs of Theorems 9.4 and 9.5 is clarified. To appear in Compositio Math