{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:6WUXVKTCALV2YBVI7ZHMXDEMDP","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"73395abe299083e58fb0f8357498177e20114654bb474a1a166dbfd591c20f7d","cross_cats_sorted":["cs.AI","cs.GR","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T17:59:55Z","title_canon_sha256":"fccab2a30b424212fc9f46841ccc3a9257732efd52cc8246aaec18cbf6ddd22f"},"schema_version":"1.0","source":{"id":"2606.30645","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.30645","created_at":"2026-06-30T02:18:24Z"},{"alias_kind":"arxiv_version","alias_value":"2606.30645v1","created_at":"2026-06-30T02:18:24Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.30645","created_at":"2026-06-30T02:18:24Z"},{"alias_kind":"pith_short_12","alias_value":"6WUXVKTCALV2","created_at":"2026-06-30T02:18:24Z"},{"alias_kind":"pith_short_16","alias_value":"6WUXVKTCALV2YBVI","created_at":"2026-06-30T02:18:24Z"},{"alias_kind":"pith_short_8","alias_value":"6WUXVKTC","created_at":"2026-06-30T02:18:24Z"}],"graph_snapshots":[{"event_id":"sha256:1a2535400b80acff01ef8880d83c8989985a3c75beacd1a7d47cee0d3568df59","target":"graph","created_at":"2026-06-30T02:18:24Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2606.30645/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data source provides this complete tuple at scale. We address this bottleneck by generating vision-language-kinematics (VLK) supervision synthetically in reconstructed scenes. Our pipeline leverages 3D Gaussian Splatting to reconstruct metric-scale indoor environments, synthesizes navigation and object-interaction trajector","authors_text":"Angjoo Kanazawa, Carmelo Sferrazza, Guanya Shi, Jiaman Li, Karen Liu, Koushil Sreenath, Pei Xu, Pieter Abbeel, Rocky Duan, Sirui Chen, Takara E. Truong, Yen-Jen Wang","cross_cats":["cs.AI","cs.GR","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T17:59:55Z","title":"VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.30645","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:0debc34f70d710dabce7727b79c8f62fd216283063e361e5183d20f84c8054e0","target":"record","created_at":"2026-06-30T02:18:24Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"73395abe299083e58fb0f8357498177e20114654bb474a1a166dbfd591c20f7d","cross_cats_sorted":["cs.AI","cs.GR","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T17:59:55Z","title_canon_sha256":"fccab2a30b424212fc9f46841ccc3a9257732efd52cc8246aaec18cbf6ddd22f"},"schema_version":"1.0","source":{"id":"2606.30645","kind":"arxiv","version":1}},"canonical_sha256":"f5a97aaa6202ebac06a8fe4ecb8c8c1bf11722847d6d53b22dcb14af53fd5b45","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f5a97aaa6202ebac06a8fe4ecb8c8c1bf11722847d6d53b22dcb14af53fd5b45","first_computed_at":"2026-06-30T02:18:24.222158Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-30T02:18:24.222158Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Paogkx85R8RMHvXGur1RCKO4SpVDwupbg8gYXVwnTh1fYDRuw/U5PKCV8lGjBvniAHrH5D0mp2pqacLLv/XhDQ==","signature_status":"signed_v1","signed_at":"2026-06-30T02:18:24.223104Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.30645","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:0debc34f70d710dabce7727b79c8f62fd216283063e361e5183d20f84c8054e0","sha256:1a2535400b80acff01ef8880d83c8989985a3c75beacd1a7d47cee0d3568df59"],"state_sha256":"e1d6449d365cff12fd8b56310e71301661b71c2802ac7a5f4d4db0e472d4eca6"}