{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:HX2D5TMJI2VW6HZRKRIGGVPCPD","short_pith_number":"pith:HX2D5TMJ","canonical_record":{"source":{"id":"2603.09170","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T04:19:43Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"ba53252c0c7c9cfc00fdad9c0a89dfdc800143703a272e775464e4f4616ec44e","abstract_canon_sha256":"01e749fc32163bd13eaeb760e93c19f9ef6b4ff22a132d916be9ade0c8f1556b"},"schema_version":"1.0"},"canonical_sha256":"3df43ecd8946ab6f1f3154506355e278fe2e5424d73adfa90444305bbe937c3a","source":{"kind":"arxiv","id":"2603.09170","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.09170","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"arxiv_version","alias_value":"2603.09170v2","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.09170","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_12","alias_value":"HX2D5TMJI2VW","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_16","alias_value":"HX2D5TMJI2VW6HZR","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_8","alias_value":"HX2D5TMJ","created_at":"2026-06-04T01:08:47Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:HX2D5TMJI2VW6HZRKRIGGVPCPD","target":"record","payload":{"canonical_record":{"source":{"id":"2603.09170","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T04:19:43Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"ba53252c0c7c9cfc00fdad9c0a89dfdc800143703a272e775464e4f4616ec44e","abstract_canon_sha256":"01e749fc32163bd13eaeb760e93c19f9ef6b4ff22a132d916be9ade0c8f1556b"},"schema_version":"1.0"},"canonical_sha256":"3df43ecd8946ab6f1f3154506355e278fe2e5424d73adfa90444305bbe937c3a","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-04T01:08:47.721863Z","signature_b64":"3JNqdJb/KkPGMKr185KHLeVIcVHkhbPQbHTcR3z+bqWehox/6WQ15IrrHo2gptfdB8aTCaKobUIKBCrbi7oZDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3df43ecd8946ab6f1f3154506355e278fe2e5424d73adfa90444305bbe937c3a","last_reissued_at":"2026-06-04T01:08:47.721347Z","signature_status":"signed_v1","first_computed_at":"2026-06-04T01:08:47.721347Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.09170","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-04T01:08:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1VV6Je+ho3EgmWqEbmNWQqz8xqf+59/jd9A+MNngfdBivx3hv1+7wxcbILMGpZdFLM9dfDDP1EOeBRxH9iMlBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T18:05:14.873859Z"},"content_sha256":"6376c9a5126195c9ad719a06bc213f216c9f87b40d83cd20fe1038b10efa70f8","schema_version":"1.0","event_id":"sha256:6376c9a5126195c9ad719a06bc213f216c9f87b40d83cd20fe1038b10efa70f8"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:HX2D5TMJI2VW6HZRKRIGGVPCPD","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Bin Zhao, Dong Wang, Haoming Song, Haoran Yang, Jiacheng Bao, Xuelong Li, Yucheng Xin, Yuyang Tian","submitted_at":"2026-03-10T04:19:43Z","abstract_excerpt":"Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. We present ZeroWBC, a teleoperation-free framework that learns humanoid whole-body interaction from human egocentric videos paired with synchronized whole-body motion and text annotations. ZeroWBC adopts a generation-then-tracking formulation to tackle the static scene whole-body interaction control problem. Given an initial egocentric image and a language instruction, a fine-tuned Vision-Language Model generates future human whole-body motion token"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.09170","kind":"arxiv","version":2},"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/2603.09170/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":"2026-06-04T01:08:47Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1rz+s9qpYKTCI8OO2r9HsJffIJVsembRDggVcs0Rmo2KiJCkzmdGZ4pWoG3WfydcHkwa/3pHk3hynaMr6YYhAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-07T18:05:14.874659Z"},"content_sha256":"837da5c8171000990154efd3f2ffc109f174368a34158fe8469d03097422efc6","schema_version":"1.0","event_id":"sha256:837da5c8171000990154efd3f2ffc109f174368a34158fe8469d03097422efc6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/bundle.json","state_url":"https://pith.science/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/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":"2026-06-07T18:05:14Z","links":{"resolver":"https://pith.science/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD","bundle":"https://pith.science/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/bundle.json","state":"https://pith.science/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HX2D5TMJI2VW6HZRKRIGGVPCPD/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:HX2D5TMJI2VW6HZRKRIGGVPCPD","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":"01e749fc32163bd13eaeb760e93c19f9ef6b4ff22a132d916be9ade0c8f1556b","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T04:19:43Z","title_canon_sha256":"ba53252c0c7c9cfc00fdad9c0a89dfdc800143703a272e775464e4f4616ec44e"},"schema_version":"1.0","source":{"id":"2603.09170","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.09170","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"arxiv_version","alias_value":"2603.09170v2","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.09170","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_12","alias_value":"HX2D5TMJI2VW","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_16","alias_value":"HX2D5TMJI2VW6HZR","created_at":"2026-06-04T01:08:47Z"},{"alias_kind":"pith_short_8","alias_value":"HX2D5TMJ","created_at":"2026-06-04T01:08:47Z"}],"graph_snapshots":[{"event_id":"sha256:837da5c8171000990154efd3f2ffc109f174368a34158fe8469d03097422efc6","target":"graph","created_at":"2026-06-04T01:08:47Z","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/2603.09170/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Achieving versatile and natural whole-body humanoid interaction control remains challenging due to the high cost of whole-body teleoperation data. We present ZeroWBC, a teleoperation-free framework that learns humanoid whole-body interaction from human egocentric videos paired with synchronized whole-body motion and text annotations. ZeroWBC adopts a generation-then-tracking formulation to tackle the static scene whole-body interaction control problem. Given an initial egocentric image and a language instruction, a fine-tuned Vision-Language Model generates future human whole-body motion token","authors_text":"Bin Zhao, Dong Wang, Haoming Song, Haoran Yang, Jiacheng Bao, Xuelong Li, Yucheng Xin, Yuyang Tian","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T04:19:43Z","title":"ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.09170","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":"sha256:6376c9a5126195c9ad719a06bc213f216c9f87b40d83cd20fe1038b10efa70f8","target":"record","created_at":"2026-06-04T01:08:47Z","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":"01e749fc32163bd13eaeb760e93c19f9ef6b4ff22a132d916be9ade0c8f1556b","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T04:19:43Z","title_canon_sha256":"ba53252c0c7c9cfc00fdad9c0a89dfdc800143703a272e775464e4f4616ec44e"},"schema_version":"1.0","source":{"id":"2603.09170","kind":"arxiv","version":2}},"canonical_sha256":"3df43ecd8946ab6f1f3154506355e278fe2e5424d73adfa90444305bbe937c3a","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3df43ecd8946ab6f1f3154506355e278fe2e5424d73adfa90444305bbe937c3a","first_computed_at":"2026-06-04T01:08:47.721347Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-04T01:08:47.721347Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3JNqdJb/KkPGMKr185KHLeVIcVHkhbPQbHTcR3z+bqWehox/6WQ15IrrHo2gptfdB8aTCaKobUIKBCrbi7oZDQ==","signature_status":"signed_v1","signed_at":"2026-06-04T01:08:47.721863Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.09170","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6376c9a5126195c9ad719a06bc213f216c9f87b40d83cd20fe1038b10efa70f8","sha256:837da5c8171000990154efd3f2ffc109f174368a34158fe8469d03097422efc6"],"state_sha256":"0fd3bcd93ddcb4cfa17d146870351c3e66d0fe637c9cab1ad6e9f6b75ebce374"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"M7i6wdBWi4mPJ2d0f4IaYBoiifkTmcioeFi3Y74ndn/W0KaSc8lUrZt8r18MPey2I7KXm5P7NNF3tgypWsRMDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-07T18:05:14.879370Z","bundle_sha256":"3a5ecf1cfb0121edc3ca743238ca93c8a810b8fbdec2c9fbd5b66ccca6fa7886"}}