{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:EMZB5YLFLIPNYQYKBJ5MGL3IM5","short_pith_number":"pith:EMZB5YLF","canonical_record":{"source":{"id":"2606.18772","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T07:33:37Z","cross_cats_sorted":[],"title_canon_sha256":"f21259016d04fe0197760a6e8e56b62cfcbcd3b238777fb49bf1b54da14bd598","abstract_canon_sha256":"c8ef2f29020de0f1fb803fda9d137b7c071e2d74bbdb834700e1c5ba765e9d53"},"schema_version":"1.0"},"canonical_sha256":"23321ee1655a1edc430a0a7ac32f68674e1e66095aba8c594c4c0639d5ec4818","source":{"kind":"arxiv","id":"2606.18772","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.18772","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"arxiv_version","alias_value":"2606.18772v1","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.18772","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_12","alias_value":"EMZB5YLFLIPN","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_16","alias_value":"EMZB5YLFLIPNYQYK","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_8","alias_value":"EMZB5YLF","created_at":"2026-06-19T16:11:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:EMZB5YLFLIPNYQYKBJ5MGL3IM5","target":"record","payload":{"canonical_record":{"source":{"id":"2606.18772","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T07:33:37Z","cross_cats_sorted":[],"title_canon_sha256":"f21259016d04fe0197760a6e8e56b62cfcbcd3b238777fb49bf1b54da14bd598","abstract_canon_sha256":"c8ef2f29020de0f1fb803fda9d137b7c071e2d74bbdb834700e1c5ba765e9d53"},"schema_version":"1.0"},"canonical_sha256":"23321ee1655a1edc430a0a7ac32f68674e1e66095aba8c594c4c0639d5ec4818","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:11:46.943927Z","signature_b64":"MHG6pctG3b/iwUs7xPAKdh1BjqDGcG/bNDrSz/Y/+C+p3Mde3rS/0YS7P2/EDYmNNxC87iPhX57dXRZlvwc6Aw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"23321ee1655a1edc430a0a7ac32f68674e1e66095aba8c594c4c0639d5ec4818","last_reissued_at":"2026-06-19T16:11:46.943585Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:11:46.943585Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.18772","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:11:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OCSGuBjkGFlNPshWNjpAtDSfupwMgP9GXVOW9BVNA6dMgRakBe9wH4ByBh88qzUcTHKMx5zPW1FMrCLSficGCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T02:20:29.848525Z"},"content_sha256":"aa01ddee923e3a268a068e5ffe3cc8e90f8623e6e64f0433e394e46ecd229940","schema_version":"1.0","event_id":"sha256:aa01ddee923e3a268a068e5ffe3cc8e90f8623e6e64f0433e394e46ecd229940"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:EMZB5YLFLIPNYQYKBJ5MGL3IM5","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenxi Liu, Gaojing Zhang, Maolin Zheng, Wenzhao Lian, Yuxuan Zhao, Zehui Zhao","submitted_at":"2026-06-17T07:33:37Z","abstract_excerpt":"Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. However, directly transferring human demonstrations to humanoids requires a precise world-frame tracking controller, which is often brittle under Out-of-Distribution(OOD) targets, while human-to-humanoid gaps persist in both egocentric observation and action execution. To address these challenges, we present HALOMI, a scalable framework for learning humanoid loco-manipulation with active perception from human demonstratio"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.18772","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.18772/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:11:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"l93PS13v2A2H4S4HJanKGR2Gu0vtu4XbHmk3/hJg3JppYjz3hwAWKMckdmegKCq41X+NjfboeVSjgxOlLSKiBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-01T02:20:29.848909Z"},"content_sha256":"33d1260cfd0a7d7ec47b6d36b8f1b93119d62673e19c80a6686552213452bc3e","schema_version":"1.0","event_id":"sha256:33d1260cfd0a7d7ec47b6d36b8f1b93119d62673e19c80a6686552213452bc3e"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/bundle.json","state_url":"https://pith.science/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-07-01T02:20:29Z","links":{"resolver":"https://pith.science/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5","bundle":"https://pith.science/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/bundle.json","state":"https://pith.science/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/EMZB5YLFLIPNYQYKBJ5MGL3IM5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EMZB5YLFLIPNYQYKBJ5MGL3IM5","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":"c8ef2f29020de0f1fb803fda9d137b7c071e2d74bbdb834700e1c5ba765e9d53","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T07:33:37Z","title_canon_sha256":"f21259016d04fe0197760a6e8e56b62cfcbcd3b238777fb49bf1b54da14bd598"},"schema_version":"1.0","source":{"id":"2606.18772","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.18772","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"arxiv_version","alias_value":"2606.18772v1","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.18772","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_12","alias_value":"EMZB5YLFLIPN","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_16","alias_value":"EMZB5YLFLIPNYQYK","created_at":"2026-06-19T16:11:46Z"},{"alias_kind":"pith_short_8","alias_value":"EMZB5YLF","created_at":"2026-06-19T16:11:46Z"}],"graph_snapshots":[{"event_id":"sha256:33d1260cfd0a7d7ec47b6d36b8f1b93119d62673e19c80a6686552213452bc3e","target":"graph","created_at":"2026-06-19T16:11:46Z","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/2606.18772/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Human demonstrations, which can be collected at scale and naturally capture active hand-eye coordination, are a promising data source for learning humanoid loco-manipulation. However, directly transferring human demonstrations to humanoids requires a precise world-frame tracking controller, which is often brittle under Out-of-Distribution(OOD) targets, while human-to-humanoid gaps persist in both egocentric observation and action execution. To address these challenges, we present HALOMI, a scalable framework for learning humanoid loco-manipulation with active perception from human demonstratio","authors_text":"Chenxi Liu, Gaojing Zhang, Maolin Zheng, Wenzhao Lian, Yuxuan Zhao, Zehui Zhao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T07:33:37Z","title":"HALOMI: Learning Humanoid Loco-Manipulation with Active Perception from Human Demonstrations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.18772","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:aa01ddee923e3a268a068e5ffe3cc8e90f8623e6e64f0433e394e46ecd229940","target":"record","created_at":"2026-06-19T16:11:46Z","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":"c8ef2f29020de0f1fb803fda9d137b7c071e2d74bbdb834700e1c5ba765e9d53","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-17T07:33:37Z","title_canon_sha256":"f21259016d04fe0197760a6e8e56b62cfcbcd3b238777fb49bf1b54da14bd598"},"schema_version":"1.0","source":{"id":"2606.18772","kind":"arxiv","version":1}},"canonical_sha256":"23321ee1655a1edc430a0a7ac32f68674e1e66095aba8c594c4c0639d5ec4818","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"23321ee1655a1edc430a0a7ac32f68674e1e66095aba8c594c4c0639d5ec4818","first_computed_at":"2026-06-19T16:11:46.943585Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:11:46.943585Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"MHG6pctG3b/iwUs7xPAKdh1BjqDGcG/bNDrSz/Y/+C+p3Mde3rS/0YS7P2/EDYmNNxC87iPhX57dXRZlvwc6Aw==","signature_status":"signed_v1","signed_at":"2026-06-19T16:11:46.943927Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.18772","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:aa01ddee923e3a268a068e5ffe3cc8e90f8623e6e64f0433e394e46ecd229940","sha256:33d1260cfd0a7d7ec47b6d36b8f1b93119d62673e19c80a6686552213452bc3e"],"state_sha256":"61b63ec0c27f0c07dc66ddab820618214d4970cebcd1354bf725ce5fa19eaa82"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Uo4Zogj0Bo8N6yl4vI26ElGm8S/MbfaJIKElUjIYzInQKNJgkB134qqwajo2YCqB2Ljb/l6laqdrWSoUZsWcCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-01T02:20:29.851004Z","bundle_sha256":"ae2b45cfab96a6e03131563f0b472bd2fd22b8ee1163c467ca902ff0d979fa98"}}