{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:4BXC5VPMDAVANH2V6GGWN2RPL5","short_pith_number":"pith:4BXC5VPM","schema_version":"1.0","canonical_sha256":"e06e2ed5ec182a069f55f18d66ea2f5f4639063b4e97fab82d6ae4d69f9809d0","source":{"kind":"arxiv","id":"2606.25706","version":1},"attestation_state":"computed","paper":{"title":"Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongqi Wang, Jiyu Yu, Rong Xiong, Yijun Fan, Yue Wang, Yumeng Liu","submitted_at":"2026-06-24T11:19:38Z","abstract_excerpt":"High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between the planning and execution, and structural incompleteness for full-body control. We propose an asynchronous upper body task-space tracking framework for humanoids. A student policy is initialized by teacher-student distillation, conditioned on the full cached future trajectory and an execution-time index, and trained with a sliding-window global reward to reduce frame drift without explicit frame estimation. For task-"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.25706","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-24T11:19:38Z","cross_cats_sorted":[],"title_canon_sha256":"9e36b5be7d8eb0f4e278c910004444216cf3bdbce3dcf58d6943a71bc8121a59","abstract_canon_sha256":"1a2d6a94d4f92f5e759c1e250c7a8443f1e7d356b778a2ec1b5a48b8f1519cde"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-25T01:18:13.256191Z","signature_b64":"fXssPkhNRvAKA0tEIHVwxIMp2unhaiDWfLUMMhHZLeFCwdyegKLXli9O+7zsum5JYf5da7QGUbtE2G81WMNmAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e06e2ed5ec182a069f55f18d66ea2f5f4639063b4e97fab82d6ae4d69f9809d0","last_reissued_at":"2026-06-25T01:18:13.255800Z","signature_status":"signed_v1","first_computed_at":"2026-06-25T01:18:13.255800Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Learning Asynchronous Upper-body Task-space Trajectory Tracking Policy for Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongqi Wang, Jiyu Yu, Rong Xiong, Yijun Fan, Yue Wang, Yumeng Liu","submitted_at":"2026-06-24T11:19:38Z","abstract_excerpt":"High-level humanoid planners often output sparse task-space, low-rate trajectories, whereas whole-body controllers run at high frequency. This creates temporal asynchrony between the planning and execution, and structural incompleteness for full-body control. We propose an asynchronous upper body task-space tracking framework for humanoids. A student policy is initialized by teacher-student distillation, conditioned on the full cached future trajectory and an execution-time index, and trained with a sliding-window global reward to reduce frame drift without explicit frame estimation. For task-"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.25706","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/2606.25706/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.25706","created_at":"2026-06-25T01:18:13.255864+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.25706v1","created_at":"2026-06-25T01:18:13.255864+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.25706","created_at":"2026-06-25T01:18:13.255864+00:00"},{"alias_kind":"pith_short_12","alias_value":"4BXC5VPMDAVA","created_at":"2026-06-25T01:18:13.255864+00:00"},{"alias_kind":"pith_short_16","alias_value":"4BXC5VPMDAVANH2V","created_at":"2026-06-25T01:18:13.255864+00:00"},{"alias_kind":"pith_short_8","alias_value":"4BXC5VPM","created_at":"2026-06-25T01:18:13.255864+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5","json":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5.json","graph_json":"https://pith.science/api/pith-number/4BXC5VPMDAVANH2V6GGWN2RPL5/graph.json","events_json":"https://pith.science/api/pith-number/4BXC5VPMDAVANH2V6GGWN2RPL5/events.json","paper":"https://pith.science/paper/4BXC5VPM"},"agent_actions":{"view_html":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5","download_json":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5.json","view_paper":"https://pith.science/paper/4BXC5VPM","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.25706&json=true","fetch_graph":"https://pith.science/api/pith-number/4BXC5VPMDAVANH2V6GGWN2RPL5/graph.json","fetch_events":"https://pith.science/api/pith-number/4BXC5VPMDAVANH2V6GGWN2RPL5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5/action/storage_attestation","attest_author":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5/action/author_attestation","sign_citation":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5/action/citation_signature","submit_replication":"https://pith.science/pith/4BXC5VPMDAVANH2V6GGWN2RPL5/action/replication_record"}},"created_at":"2026-06-25T01:18:13.255864+00:00","updated_at":"2026-06-25T01:18:13.255864+00:00"}