{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:A7DQDGOHK2Y3LBJ2DCLVDHITVI","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":"319e4a0825c809b620e12ded7252078569145a0324a8e64da8f486fb151f1f9c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-13T19:23:36Z","title_canon_sha256":"a3f64c19049a00d56bb75ba6322c6acbd4d474d0b49298cb9bae16e5fd665437"},"schema_version":"1.0","source":{"id":"2509.10952","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2509.10952","created_at":"2026-07-05T12:11:30Z"},{"alias_kind":"arxiv_version","alias_value":"2509.10952v1","created_at":"2026-07-05T12:11:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2509.10952","created_at":"2026-07-05T12:11:30Z"},{"alias_kind":"pith_short_12","alias_value":"A7DQDGOHK2Y3","created_at":"2026-07-05T12:11:30Z"},{"alias_kind":"pith_short_16","alias_value":"A7DQDGOHK2Y3LBJ2","created_at":"2026-07-05T12:11:30Z"},{"alias_kind":"pith_short_8","alias_value":"A7DQDGOH","created_at":"2026-07-05T12:11:30Z"}],"graph_snapshots":[{"event_id":"sha256:7b41fc2f899d610353f0487695f9581fce08af429b9e3a8128ccd84a141d0264","target":"graph","created_at":"2026-07-05T12:11:30Z","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/2509.10952/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Learning robot manipulation from abundant human videos offers a scalable alternative to costly robot-specific data collection. However, domain gaps across visual, morphological, and physical aspects hinder direct imitation. To effectively bridge the domain gap, we propose ImMimic, an embodiment-agnostic co-training framework that leverages both human videos and a small amount of teleoperated robot demonstrations. ImMimic uses Dynamic Time Warping (DTW) with either action- or visual-based mapping to map retargeted human hand poses to robot joints, followed by MixUp interpolation between paired ","authors_text":"Danfei Xu, Harish Ravichandar, Woo Chul Shin, Yangcen Liu, Yunhai Han, Zhenyang Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-13T19:23:36Z","title":"ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2509.10952","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":"sha256:05f24e18814eacc4a26dfe84dad775a700501cc111f4b9cb564f31ef2ffd2893","target":"record","created_at":"2026-07-05T12:11:30Z","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":"319e4a0825c809b620e12ded7252078569145a0324a8e64da8f486fb151f1f9c","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2025-09-13T19:23:36Z","title_canon_sha256":"a3f64c19049a00d56bb75ba6322c6acbd4d474d0b49298cb9bae16e5fd665437"},"schema_version":"1.0","source":{"id":"2509.10952","kind":"arxiv","version":1}},"canonical_sha256":"07c70199c756b1b5853a1897519d13aa1568739db73f023189fc1c05450a9826","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"07c70199c756b1b5853a1897519d13aa1568739db73f023189fc1c05450a9826","first_computed_at":"2026-07-05T12:11:30.957534Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T12:11:30.957534Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oQlRqdCoSCD2AZXqD+CRKFFELkShu03xvmE/zqB7bWQk75Vp+MziHYLdYX28FJdYSQ1J9Ld/HErPx19HCJ9uCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T12:11:30.958018Z","signed_message":"canonical_sha256_bytes"},"source_id":"2509.10952","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:05f24e18814eacc4a26dfe84dad775a700501cc111f4b9cb564f31ef2ffd2893","sha256:7b41fc2f899d610353f0487695f9581fce08af429b9e3a8128ccd84a141d0264"],"state_sha256":"7d49c892e4a8c85f6976bada6c363046666bac78cfc812f8351968247489a842"}