{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:NTGW3B7P3SNLQOGCPMZHHGMULC","short_pith_number":"pith:NTGW3B7P","canonical_record":{"source":{"id":"2509.26633","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-30T17:59:02Z","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"c90b7c55da704b7687db1900170f7510f6f55e29ce9cea53a378fdaa9e9a01ec","abstract_canon_sha256":"54f4a10d3fac5379b85528cfea4ff5a8212bd3e585b6bfe0d60ed4c3b9057f78"},"schema_version":"1.0"},"canonical_sha256":"6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d","source":{"kind":"arxiv","id":"2509.26633","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.26633","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"arxiv_version","alias_value":"2509.26633v3","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.26633","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_12","alias_value":"NTGW3B7P3SNL","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_16","alias_value":"NTGW3B7P3SNLQOGC","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_8","alias_value":"NTGW3B7P","created_at":"2026-06-19T16:09:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:NTGW3B7P3SNLQOGCPMZHHGMULC","target":"record","payload":{"canonical_record":{"source":{"id":"2509.26633","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-30T17:59:02Z","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"c90b7c55da704b7687db1900170f7510f6f55e29ce9cea53a378fdaa9e9a01ec","abstract_canon_sha256":"54f4a10d3fac5379b85528cfea4ff5a8212bd3e585b6bfe0d60ed4c3b9057f78"},"schema_version":"1.0"},"canonical_sha256":"6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-19T16:09:51.382070Z","signature_b64":"j5U/c1ccqSjjZfR6MZRXFymiWeUzojmaFIMy7Rb+YjhemnX9vTAfGKqEO94wpfF9rXeLMzftw6cGYMX4PWPqDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d","last_reissued_at":"2026-06-19T16:09:51.381682Z","signature_status":"signed_v1","first_computed_at":"2026-06-19T16:09:51.381682Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2509.26633","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-19T16:09:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"EP3hrUFmSNm7f3EamodilMK2Xydyh6hXZsxbyEVGUj7PkD1jLV4pkhiWivRltU//XdMFA94GJPG2r8Ou2nDpDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-19T22:49:20.379728Z"},"content_sha256":"41da947153384f27d0aef670dafc30027ad0877396b44f953b2d34de5e8f33c6","schema_version":"1.0","event_id":"sha256:41da947153384f27d0aef670dafc30027ad0877396b44f953b2d34de5e8f33c6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:NTGW3B7P3SNLQOGCPMZHHGMULC","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Angjoo Kanazawa, Carmelo Sferrazza, C. Karen Liu, Guanya Shi, Lujie Yang, Pieter Abbeel, Rocky Duan, Xiaoyu Huang, Zhen Wu","submitted_at":"2025-09-30T17:59:02Z","abstract_excerpt":"A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant embodiment gap between humans and robots, producing physically implausible artifacts like foot-skating and penetration. More importantly, common retargeting methods neglect the rich human-object and human-environment interactions essential for expressive locomotion and loco-manipulation. To address this, we introduce OmniRetarget, an interaction-preserving d"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.26633","kind":"arxiv","version":3},"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/2509.26633/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":"2026-06-19T16:09:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"xGZqqPjZ4NjRIEapqN2PMdPHGbOm9O57uASEk/MhTOkU2Wslm11EeH0NxqhaSNBuy+OZ1HcaBEfpvd7h+xrGDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-19T22:49:20.380106Z"},"content_sha256":"0a61c8b418e2f7bd1cbf0291966d5b139e8dc99d3ebbb58c4b33d2f8eda0d0ae","schema_version":"1.0","event_id":"sha256:0a61c8b418e2f7bd1cbf0291966d5b139e8dc99d3ebbb58c4b33d2f8eda0d0ae"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/bundle.json","state_url":"https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/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":"2026-06-19T22:49:20Z","links":{"resolver":"https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC","bundle":"https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/bundle.json","state":"https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/state.json","well_known_bundle":"https://pith.science/.well-known/pith/NTGW3B7P3SNLQOGCPMZHHGMULC/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:NTGW3B7P3SNLQOGCPMZHHGMULC","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":"54f4a10d3fac5379b85528cfea4ff5a8212bd3e585b6bfe0d60ed4c3b9057f78","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-30T17:59:02Z","title_canon_sha256":"c90b7c55da704b7687db1900170f7510f6f55e29ce9cea53a378fdaa9e9a01ec"},"schema_version":"1.0","source":{"id":"2509.26633","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.26633","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"arxiv_version","alias_value":"2509.26633v3","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.26633","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_12","alias_value":"NTGW3B7P3SNL","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_16","alias_value":"NTGW3B7P3SNLQOGC","created_at":"2026-06-19T16:09:51Z"},{"alias_kind":"pith_short_8","alias_value":"NTGW3B7P","created_at":"2026-06-19T16:09:51Z"}],"graph_snapshots":[{"event_id":"sha256:0a61c8b418e2f7bd1cbf0291966d5b139e8dc99d3ebbb58c4b33d2f8eda0d0ae","target":"graph","created_at":"2026-06-19T16:09:51Z","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/2509.26633/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A dominant paradigm for teaching humanoid robots complex skills is to retarget human motions as kinematic references to train reinforcement learning (RL) policies. However, existing retargeting pipelines often struggle with the significant embodiment gap between humans and robots, producing physically implausible artifacts like foot-skating and penetration. More importantly, common retargeting methods neglect the rich human-object and human-environment interactions essential for expressive locomotion and loco-manipulation. To address this, we introduce OmniRetarget, an interaction-preserving d","authors_text":"Angjoo Kanazawa, Carmelo Sferrazza, C. Karen Liu, Guanya Shi, Lujie Yang, Pieter Abbeel, Rocky Duan, Xiaoyu Huang, Zhen Wu","cross_cats":["cs.AI","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-30T17:59:02Z","title":"OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.26633","kind":"arxiv","version":3},"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":"sha256:41da947153384f27d0aef670dafc30027ad0877396b44f953b2d34de5e8f33c6","target":"record","created_at":"2026-06-19T16:09:51Z","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":"54f4a10d3fac5379b85528cfea4ff5a8212bd3e585b6bfe0d60ed4c3b9057f78","cross_cats_sorted":["cs.AI","cs.LG","cs.SY","eess.SY"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-30T17:59:02Z","title_canon_sha256":"c90b7c55da704b7687db1900170f7510f6f55e29ce9cea53a378fdaa9e9a01ec"},"schema_version":"1.0","source":{"id":"2509.26633","kind":"arxiv","version":3}},"canonical_sha256":"6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d","first_computed_at":"2026-06-19T16:09:51.381682Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-19T16:09:51.381682Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"j5U/c1ccqSjjZfR6MZRXFymiWeUzojmaFIMy7Rb+YjhemnX9vTAfGKqEO94wpfF9rXeLMzftw6cGYMX4PWPqDA==","signature_status":"signed_v1","signed_at":"2026-06-19T16:09:51.382070Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.26633","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:41da947153384f27d0aef670dafc30027ad0877396b44f953b2d34de5e8f33c6","sha256:0a61c8b418e2f7bd1cbf0291966d5b139e8dc99d3ebbb58c4b33d2f8eda0d0ae"],"state_sha256":"c198e3c7b0ef01c8aad4ff456a4b1b40903a2a715a727bfb454c93c5c95a3661"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"K7ou6Tc1uiB9byuO/yiPdVcl2ohvlzCmSLNub+wO/ImPBHPmtGjnULbFQ++Xz1g7j8JPdgw4co8YMbmhAzbhCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-19T22:49:20.382213Z","bundle_sha256":"2f5e1d8493dbca6dba48a78f43f2bdba58cf3523b2c9e334dc9a9fba1d9c6e3d"}}