Paper Citation Record · LEDGER

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum

As of 12 August 2026, this Paper Citation Record lists 41 of 41 outbound references and 0 inbound Pith citation observations for arXiv:2607.02332.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2607.02332 v1

Coverage vector

measured 41 of 41 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-07-03T11:10:14.804298Z

measured 41 of 41 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-11T06:34:44.6726+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: cited_works

Reference resolution

41 of 41 outbound references displayed

verified exact13
verified fuzzy11
unresolved17
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation ddde42a7-693e-41d6-98fc-97f51446a82f · outbound

This paper cites Mandlekar, Y.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Mandlekar, Y

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.395006Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 60fd5fc8-a3cf-4216-a3ed-ad068402dcd9 · outbound

This paper cites Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 2

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.801109Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 3e6d4480-029e-4b3c-b840-6d5fc841c57d · outbound

This paper cites Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Reference 3

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.793282Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 6eebb79e-1259-4a0f-bcfc-78e9faf80e08 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 4

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.393021Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 1fb56f1c-37a0-4479-9599-c767733321d9 · outbound

This paper cites Open-TeleVision: Teleoperation with Immersive Active Visual Feedback.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Open-TeleVision: Teleoperation with Immersive Active Visual Feedback

Reference 5

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.786125Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation ae8e01cb-77db-4924-ab24-5cee226bb138 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 6

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.400367Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation be3208a3-b2ed-4143-ad38-662058e09b49 · outbound

This paper cites OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.785582Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation fdde5e60-98e3-436b-a827-79e40439e05e · outbound

This paper cites HumanPlus: Humanoid Shadowing and Imitation from Humans.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum HumanPlus: Humanoid Shadowing and Imitation from Humans

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.794478Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 45f97ef4-6b26-4f8f-a1eb-eead9ddbfc80 · outbound

This paper cites TWIST: Teleoperated Whole-Body Imitation System.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum TWIST: Teleoperated Whole-Body Imitation System

Reference 9

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.798725Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 1dc09feb-f60a-4490-90d9-88029be17408 · outbound

This paper cites Twist2: Scalable, portable, and holistic humanoid data collection system.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Twist2: Scalable, portable, and holistic humanoid data collection system

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.788178Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation a29a8388-0c2b-4f6c-9f70-39aa2fb51ec8 · outbound

This paper cites Jiang, P.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Jiang, P

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.396963Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation db8b4c44-7798-48d3-9e20-f311bfc03a21 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 12

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.369950Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 45f96c1d-e743-4b03-a749-a7b4f4390527 · outbound

This paper cites Winkler, J.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Winkler, J

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.409412Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 12b67d7e-4fcd-4227-8bd3-feebc4e5daf3 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 14

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.379850Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 1edfa31a-1d97-47ed-8c85-b5b1866327b0 · outbound

This paper cites Zhang, B.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Zhang, B

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.405894Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation f41a9ca7-9c68-4f9a-a3de-5708cd10e2d9 · outbound

This paper cites Rempe, T.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Rempe, T

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.377511Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 4a96cd0e-91ec-4e03-849f-55cf87ce7096 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 17

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.385999Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation fc5b4d7b-c89b-4f32-b5e8-805f9d938edc · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 18

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.373021Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 004ded50-625e-42e3-91fc-109516f15e6b · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 19

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.402229Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 6328e010-f352-4f47-895f-c875de95a2b7 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 20

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.418357Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation f0b771cc-3a8e-4ab3-88fe-d63423903a1c · outbound

This paper cites Falcon: Learning force-adaptive humanoid loco-manipulation.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Falcon: Learning force-adaptive humanoid loco-manipulation

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.771825Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 9463830c-0175-457e-93bb-88157f3d9d2a · outbound

This paper cites Purushottam, J.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Purushottam, J

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.414382Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 8ef7269c-208b-471f-b3c3-c8f0ffecd08a · outbound

This paper cites Halo: Closing sim-to- real gap for heavy-loaded humanoid agile motion skills via differentiable simulation.arXiv preprint arXiv:2603.15084.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Halo: Closing sim-to- real gap for heavy-loaded humanoid agile motion skills via differentiable simulation.arXiv preprint arXiv:2603.15084

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:02.797724Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation e94dcae9-2899-4ce6-86d9-2ad8e8cab7f8 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 24

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.381822Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 52c793a5-ec2d-4bad-a837-ffd8a9ad249c · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 25

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.375321Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 64cc7505-14b6-4a60-8806-3247b18606cd · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 26

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.398703Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 0981b65b-bf46-45c7-a852-df07e972b152 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 27

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.391398Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 0ca09fd1-4df0-4f1b-b494-ba9ffd5e96ee · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 28

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.403941Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 1368fce5-3f80-4983-834a-bf7679f9be39 · outbound

This paper cites Tessler, Y.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Tessler, Y

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.384003Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 4ff76535-dec1-4506-b3ba-aaf5e3957e81 · outbound

This paper cites BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.800198Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 30b9fc54-e83c-4ec7-a326-c5d82ab9e552 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 31

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.365260Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 96f68513-a3b3-4a81-8b55-4ab8cbadda6e · outbound

This paper cites SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control

Reference 32

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.791595Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 373ba09b-abc5-433a-96af-0b6506a091f5 · outbound

This paper cites Mahmood, N.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Mahmood, N

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.407679Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 2417f66d-2dbd-4d4d-a82e-57bd84a67c5b · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 34

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.363404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 60f82ebd-c67c-452c-a563-175f9fb0bb8b · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 35

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.387931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation ec0adc9d-b44c-4d3d-861e-f567fb69add3 · outbound

This paper cites BONES-SEED: Skeletal everyday embodiment dataset, 2026.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum BONES-SEED: Skeletal everyday embodiment dataset, 2026

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.412543Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 7c0c2c11-bbf2-4d3f-b2dc-36a134682980 · outbound

This paper cites Mason, S.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Mason, S

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.416297Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 41e9a6c1-4161-4635-ba38-3950e41f4e14 · outbound

This paper cites an unresolved cited work.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Unresolved cited work

Reference 38

Resolution: unresolved; raw_fallback, observed 2026-07-05T09:10:52.389770Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation f0ecdbf8-8a79-41cb-b583-c5f3b9cab18a · outbound

This paper cites Pavlakos, V.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Pavlakos, V

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-07-05T09:10:52.367185Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation b2288932-ce65-4090-b3cd-42a252611118 · outbound

This paper cites RMA: Rapid Motor Adaptation for Legged Robots.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum RMA: Rapid Motor Adaptation for Legged Robots

Reference 40

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.796130Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Observation 135ea0bc-c941-47db-8e1e-cc131d163373 · outbound

This paper cites Proximal Policy Optimization Algorithms.

HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum Proximal Policy Optimization Algorithms

Reference 41

Resolution: verified exact; local_arxiv, observed 2026-07-03T11:18:02.790911Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-11T06:34:44.6726+00:00.

Pith citing papers

No inbound Pith citation observations are available.