{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:5YK7W5VPCRUA43WJIEJTS65ASB","short_pith_number":"pith:5YK7W5VP","canonical_record":{"source":{"id":"2606.27239","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T16:23:56Z","cross_cats_sorted":[],"title_canon_sha256":"7ea74da52b7258834ea1a765bd7ae7f51d18dda319f601bf3d0c85d88a94a59d","abstract_canon_sha256":"79378ae99f7d3deb12460224f2303d77a50d41232024eb20e64f63a1a0c8d4d1"},"schema_version":"1.0"},"canonical_sha256":"ee15fb76af14680e6ec94113397ba0905bfcb92b1dbf03fd8a4f33450576ebd4","source":{"kind":"arxiv","id":"2606.27239","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.27239","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"arxiv_version","alias_value":"2606.27239v1","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.27239","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_12","alias_value":"5YK7W5VPCRUA","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_16","alias_value":"5YK7W5VPCRUA43WJ","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_8","alias_value":"5YK7W5VP","created_at":"2026-06-26T01:16:15Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:5YK7W5VPCRUA43WJIEJTS65ASB","target":"record","payload":{"canonical_record":{"source":{"id":"2606.27239","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T16:23:56Z","cross_cats_sorted":[],"title_canon_sha256":"7ea74da52b7258834ea1a765bd7ae7f51d18dda319f601bf3d0c85d88a94a59d","abstract_canon_sha256":"79378ae99f7d3deb12460224f2303d77a50d41232024eb20e64f63a1a0c8d4d1"},"schema_version":"1.0"},"canonical_sha256":"ee15fb76af14680e6ec94113397ba0905bfcb92b1dbf03fd8a4f33450576ebd4","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-26T01:16:15.975451Z","signature_b64":"PJoOrdYQLLcVpzbynFQ2MvakfR8s+Pjwo8/YigBawBJ77rQp4PwWCd6sOU3JVvOEEe/b1BnE6+iB8cS59Zq5BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"ee15fb76af14680e6ec94113397ba0905bfcb92b1dbf03fd8a4f33450576ebd4","last_reissued_at":"2026-06-26T01:16:15.975048Z","signature_status":"signed_v1","first_computed_at":"2026-06-26T01:16:15.975048Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.27239","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-06-26T01:16:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7s10jLSxsONYU8HrPGS5mCPyQHDaw9wSs23IaJwl7qA6XbnC4dNW71d27tMSmUI0Eov9xkChouxX2O5Wd19ZCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T02:42:02.827273Z"},"content_sha256":"f67e1795232385805bd063f9aa99eac19772b6f40e55a256c412e179d64f6a86","schema_version":"1.0","event_id":"sha256:f67e1795232385805bd063f9aa99eac19772b6f40e55a256c412e179d64f6a86"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:5YK7W5VPCRUA43WJIEJTS65ASB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenhao Yu, Hongwu Wang, Jiachen Zhang, Shaqi Luo, Youhao Hu, Yuanyuan Li","submitted_at":"2026-06-25T16:23:56Z","abstract_excerpt":"High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulation. Existing data-collection methods largely rely on robot teleoperation, which is constrained by hardware accessibility, operator expertise, and limited efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection. HumanoidUMI uses lightweight VR devices and UMI-inspired grippers to collect sparse human keypoin"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.27239","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/2606.27239/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":"2026-06-26T01:16:15Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nX2/lgnyXLn51g6NpoqJx33VYDjeJKNxlPvHpWUEXdL5yo/gu37qKjJDBIfWVdcKzYcqEdjBncpo/B7R8b0UAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-02T02:42:02.827996Z"},"content_sha256":"0234c60bc224afcfa2876167ed248544b0e963e2a6d5628f227f4e802d72c1ff","schema_version":"1.0","event_id":"sha256:0234c60bc224afcfa2876167ed248544b0e963e2a6d5628f227f4e802d72c1ff"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/5YK7W5VPCRUA43WJIEJTS65ASB/bundle.json","state_url":"https://pith.science/pith/5YK7W5VPCRUA43WJIEJTS65ASB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/5YK7W5VPCRUA43WJIEJTS65ASB/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":"2026-07-02T02:42:02Z","links":{"resolver":"https://pith.science/pith/5YK7W5VPCRUA43WJIEJTS65ASB","bundle":"https://pith.science/pith/5YK7W5VPCRUA43WJIEJTS65ASB/bundle.json","state":"https://pith.science/pith/5YK7W5VPCRUA43WJIEJTS65ASB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/5YK7W5VPCRUA43WJIEJTS65ASB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:5YK7W5VPCRUA43WJIEJTS65ASB","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":"79378ae99f7d3deb12460224f2303d77a50d41232024eb20e64f63a1a0c8d4d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T16:23:56Z","title_canon_sha256":"7ea74da52b7258834ea1a765bd7ae7f51d18dda319f601bf3d0c85d88a94a59d"},"schema_version":"1.0","source":{"id":"2606.27239","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.27239","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"arxiv_version","alias_value":"2606.27239v1","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.27239","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_12","alias_value":"5YK7W5VPCRUA","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_16","alias_value":"5YK7W5VPCRUA43WJ","created_at":"2026-06-26T01:16:15Z"},{"alias_kind":"pith_short_8","alias_value":"5YK7W5VP","created_at":"2026-06-26T01:16:15Z"}],"graph_snapshots":[{"event_id":"sha256:0234c60bc224afcfa2876167ed248544b0e963e2a6d5628f227f4e802d72c1ff","target":"graph","created_at":"2026-06-26T01:16:15Z","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/2606.27239/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"High-quality demonstration data are essential for humanoid robot skill learning, especially for whole-body behaviors that require coordinated perception, locomotion, and manipulation. Existing data-collection methods largely rely on robot teleoperation, which is constrained by hardware accessibility, operator expertise, and limited efficiency. Inspired by the Universal Manipulation Interface (UMI), we propose HumanoidUMI, a portable and robot-free framework for humanoid whole-body data collection. HumanoidUMI uses lightweight VR devices and UMI-inspired grippers to collect sparse human keypoin","authors_text":"Chenhao Yu, Hongwu Wang, Jiachen Zhang, Shaqi Luo, Youhao Hu, Yuanyuan Li","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T16:23:56Z","title":"HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.27239","kind":"arxiv","version":1},"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:f67e1795232385805bd063f9aa99eac19772b6f40e55a256c412e179d64f6a86","target":"record","created_at":"2026-06-26T01:16:15Z","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":"79378ae99f7d3deb12460224f2303d77a50d41232024eb20e64f63a1a0c8d4d1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-25T16:23:56Z","title_canon_sha256":"7ea74da52b7258834ea1a765bd7ae7f51d18dda319f601bf3d0c85d88a94a59d"},"schema_version":"1.0","source":{"id":"2606.27239","kind":"arxiv","version":1}},"canonical_sha256":"ee15fb76af14680e6ec94113397ba0905bfcb92b1dbf03fd8a4f33450576ebd4","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"ee15fb76af14680e6ec94113397ba0905bfcb92b1dbf03fd8a4f33450576ebd4","first_computed_at":"2026-06-26T01:16:15.975048Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-26T01:16:15.975048Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"PJoOrdYQLLcVpzbynFQ2MvakfR8s+Pjwo8/YigBawBJ77rQp4PwWCd6sOU3JVvOEEe/b1BnE6+iB8cS59Zq5BA==","signature_status":"signed_v1","signed_at":"2026-06-26T01:16:15.975451Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.27239","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f67e1795232385805bd063f9aa99eac19772b6f40e55a256c412e179d64f6a86","sha256:0234c60bc224afcfa2876167ed248544b0e963e2a6d5628f227f4e802d72c1ff"],"state_sha256":"16edaaa39415aeeb743d46f484ebae3322bc7146fc5fa8556307c1cb230d85a6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"m4+6NSQLbFoNkJZQlxONwmf9H3POWZUOFcshCfC9hOfoCfLKY0MEVRsPsbBmNuk/u//acU48Y/9qR7qfrk8xBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-02T02:42:02.832117Z","bundle_sha256":"b656037d3442b0df78218d6fdf7594a24543d2304c6b4e7b36c4fe6f09424bf6"}}