{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:FMFDLHK4VVX3A3SOX5QH5ONHT7","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":"df4a790c4f5cca7410565c8933b7cdebd812c3dd42eda674cd1bce060f5f3357","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T17:22:52Z","title_canon_sha256":"51a8073ff4a8c93403abedd0a5d4339c4b8d2a3c8a35990dbc8da36ef8ba65d2"},"schema_version":"1.0","source":{"id":"2506.16475","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.16475","created_at":"2026-07-05T11:33:05Z"},{"alias_kind":"arxiv_version","alias_value":"2506.16475v2","created_at":"2026-07-05T11:33:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.16475","created_at":"2026-07-05T11:33:05Z"},{"alias_kind":"pith_short_12","alias_value":"FMFDLHK4VVX3","created_at":"2026-07-05T11:33:05Z"},{"alias_kind":"pith_short_16","alias_value":"FMFDLHK4VVX3A3SO","created_at":"2026-07-05T11:33:05Z"},{"alias_kind":"pith_short_8","alias_value":"FMFDLHK4","created_at":"2026-07-05T11:33:05Z"}],"graph_snapshots":[{"event_id":"sha256:70c116f28fa2ebc64cc5f325e5a3722bfa53db1c518305de515202d42d60ceac","target":"graph","created_at":"2026-07-05T11:33:05Z","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/2506.16475/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Quadrupedal robots have demonstrated impressive locomotion capabilities in complex environments, but equipping them with autonomous versatile manipulation skills in a scalable way remains a significant challenge. In this work, we introduce a cross-embodiment imitation learning system for quadrupedal manipulation, leveraging data collected from both humans and LocoMan, a quadruped equipped with multiple manipulation modes. Specifically, we develop a teleoperation and data collection pipeline, which unifies and modularizes the observation and action spaces of the human and the robot. To effectiv","authors_text":"Bingqing Chen, Changyi Lin, Chenhao Li, Ding Zhao, Jie Tan, Jonathan Francis, Mingyang Yu, Tingnan Zhang, Wenhao Yu, Yaru Niu, Yikai Wang, Yunzhe Zhang, Yuxiang Yang, Zhenzhen Li","cross_cats":["cs.AI","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T17:22:52Z","title":"Human2LocoMan: Learning Versatile Quadrupedal Manipulation with Human Pretraining"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.16475","kind":"arxiv","version":2},"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":"sha256:3cd6b09aefe2182dcbbb2620f2e9d3f8cd0d5704d2dee2b70c49d3e453986da6","target":"record","created_at":"2026-07-05T11:33:05Z","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":"df4a790c4f5cca7410565c8933b7cdebd812c3dd42eda674cd1bce060f5f3357","cross_cats_sorted":["cs.AI","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-06-19T17:22:52Z","title_canon_sha256":"51a8073ff4a8c93403abedd0a5d4339c4b8d2a3c8a35990dbc8da36ef8ba65d2"},"schema_version":"1.0","source":{"id":"2506.16475","kind":"arxiv","version":2}},"canonical_sha256":"2b0a359d5cad6fb06e4ebf607eb9a79ff9c854de50854e5ab1f0178784cffe0b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2b0a359d5cad6fb06e4ebf607eb9a79ff9c854de50854e5ab1f0178784cffe0b","first_computed_at":"2026-07-05T11:33:05.560113Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:33:05.560113Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"wO6pLlz61TYR5mWwzsQp0e77NMnD9KUoTRJyaBoAuJDdPtL2OJoQDSFSNyEXvlh5wN7DkgrS+BKbtdc6/T6qCw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:33:05.560693Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.16475","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:3cd6b09aefe2182dcbbb2620f2e9d3f8cd0d5704d2dee2b70c49d3e453986da6","sha256:70c116f28fa2ebc64cc5f325e5a3722bfa53db1c518305de515202d42d60ceac"],"state_sha256":"0f13ab362e5ac841aa27fd418b7c5a1ba66cf496f68fee662f704c2c0c114e3e"}