{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ETWFWQL4NEMXYOQGKIDZ5Y3RSO","short_pith_number":"pith:ETWFWQL4","canonical_record":{"source":{"id":"2608.06375","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T17:59:31Z","cross_cats_sorted":[],"title_canon_sha256":"819d2b08298de82f52b215f7d851e9064a5d409f809dcc3a379623f3e55b8f2f","abstract_canon_sha256":"39fb7017cdc9ff75c4f4ffd26e849dcc53d7258aed3af495da8f07bd19e8e846"},"schema_version":"1.0"},"canonical_sha256":"24ec5b417c69197c3a0652079ee37193b2cba7f56059ef9b3bef8cab370c5331","source":{"kind":"arxiv","id":"2608.06375","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.06375","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"arxiv_version","alias_value":"2608.06375v1","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.06375","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_12","alias_value":"ETWFWQL4NEMX","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_16","alias_value":"ETWFWQL4NEMXYOQG","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_8","alias_value":"ETWFWQL4","created_at":"2026-08-07T01:41:30Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ETWFWQL4NEMXYOQGKIDZ5Y3RSO","target":"record","payload":{"canonical_record":{"source":{"id":"2608.06375","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T17:59:31Z","cross_cats_sorted":[],"title_canon_sha256":"819d2b08298de82f52b215f7d851e9064a5d409f809dcc3a379623f3e55b8f2f","abstract_canon_sha256":"39fb7017cdc9ff75c4f4ffd26e849dcc53d7258aed3af495da8f07bd19e8e846"},"schema_version":"1.0"},"canonical_sha256":"24ec5b417c69197c3a0652079ee37193b2cba7f56059ef9b3bef8cab370c5331","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-07T01:41:30.957367Z","signature_b64":"vk+EmEpRUvd5u3EwihyTBQQ1z0qJKc6/67Se+26lBi/e1x6jopILSjJPenH2iAWxNEmTyPz8oT9ke6nqWpcOAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"24ec5b417c69197c3a0652079ee37193b2cba7f56059ef9b3bef8cab370c5331","last_reissued_at":"2026-08-07T01:41:30.955858Z","signature_status":"signed_v1","first_computed_at":"2026-08-07T01:41:30.955858Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2608.06375","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":"2026-08-07T01:41:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"atzjCDa6c5ndC2nHf/13V7lD2dq2pOjTFwf5cElxBJjj95k0HH5wZekDfr5J24rC+KZUyLpLxtl9La0F/VT6Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T09:16:21.491924Z"},"content_sha256":"925c9bc5b9ac71d4d6eee7253c0455a118feab41576a80bca5e4c0960f7e096d","schema_version":"1.0","event_id":"sha256:925c9bc5b9ac71d4d6eee7253c0455a118feab41576a80bca5e4c0960f7e096d"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ETWFWQL4NEMXYOQGKIDZ5Y3RSO","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"$\\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Fengjie Gao, Gen Li, Jianfei Yang, Peiyuan Zhi, Shanghang Zhang, Wenjie Zhang, Xichen Yuan, Xinying Guo, Yangyang Wei, Zhe Li, Zhenzhe Zhang","submitted_at":"2026-08-06T17:59:31Z","abstract_excerpt":"Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated behavior. Yet existing humanoid policies typically decompose locomotion and manipulation, while recent world-action models remain either arm-centric or video-centered. We present $\\omega$-0, a latent predictive whole-body world-action model for real-world humanoid concurrent loco-manipulation. Given a language instruction, current visual observation, and robot proprioceptive state, $\\omega$-0 directly predicts controlle"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.06375","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/2608.06375/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":"2026-08-07T01:41:30Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KQqug45g2k52sguScrB1qWSp1l/gxsEQZCyOv7+0uldU12/nCLqEw+SITvl6WzwI6SU5GifGR7z/IwfhMPFFCQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-09T09:16:21.492436Z"},"content_sha256":"2edd28b6c46574566ce82322caa5736339f7b7cea00c6559a22648316d878838","schema_version":"1.0","event_id":"sha256:2edd28b6c46574566ce82322caa5736339f7b7cea00c6559a22648316d878838"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/bundle.json","state_url":"https://pith.science/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/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":"2026-08-09T09:16:21Z","links":{"resolver":"https://pith.science/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO","bundle":"https://pith.science/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/bundle.json","state":"https://pith.science/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ETWFWQL4NEMXYOQGKIDZ5Y3RSO/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ETWFWQL4NEMXYOQGKIDZ5Y3RSO","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":"39fb7017cdc9ff75c4f4ffd26e849dcc53d7258aed3af495da8f07bd19e8e846","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T17:59:31Z","title_canon_sha256":"819d2b08298de82f52b215f7d851e9064a5d409f809dcc3a379623f3e55b8f2f"},"schema_version":"1.0","source":{"id":"2608.06375","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.06375","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"arxiv_version","alias_value":"2608.06375v1","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.06375","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_12","alias_value":"ETWFWQL4NEMX","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_16","alias_value":"ETWFWQL4NEMXYOQG","created_at":"2026-08-07T01:41:30Z"},{"alias_kind":"pith_short_8","alias_value":"ETWFWQL4","created_at":"2026-08-07T01:41:30Z"}],"graph_snapshots":[{"event_id":"sha256:2edd28b6c46574566ce82322caa5736339f7b7cea00c6559a22648316d878838","target":"graph","created_at":"2026-08-07T01:41:30Z","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/2608.06375/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humanoid household tasks often require concurrent loco-manipulation, where the robot must move, adjust posture, maintain balance, and manipulate objects as a single coordinated behavior. Yet existing humanoid policies typically decompose locomotion and manipulation, while recent world-action models remain either arm-centric or video-centered. We present $\\omega$-0, a latent predictive whole-body world-action model for real-world humanoid concurrent loco-manipulation. Given a language instruction, current visual observation, and robot proprioceptive state, $\\omega$-0 directly predicts controlle","authors_text":"Fengjie Gao, Gen Li, Jianfei Yang, Peiyuan Zhi, Shanghang Zhang, Wenjie Zhang, Xichen Yuan, Xinying Guo, Yangyang Wei, Zhe Li, Zhenzhe Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T17:59:31Z","title":"$\\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.06375","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":"sha256:925c9bc5b9ac71d4d6eee7253c0455a118feab41576a80bca5e4c0960f7e096d","target":"record","created_at":"2026-08-07T01:41:30Z","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":"39fb7017cdc9ff75c4f4ffd26e849dcc53d7258aed3af495da8f07bd19e8e846","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-06T17:59:31Z","title_canon_sha256":"819d2b08298de82f52b215f7d851e9064a5d409f809dcc3a379623f3e55b8f2f"},"schema_version":"1.0","source":{"id":"2608.06375","kind":"arxiv","version":1}},"canonical_sha256":"24ec5b417c69197c3a0652079ee37193b2cba7f56059ef9b3bef8cab370c5331","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"24ec5b417c69197c3a0652079ee37193b2cba7f56059ef9b3bef8cab370c5331","first_computed_at":"2026-08-07T01:41:30.955858Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-07T01:41:30.955858Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"vk+EmEpRUvd5u3EwihyTBQQ1z0qJKc6/67Se+26lBi/e1x6jopILSjJPenH2iAWxNEmTyPz8oT9ke6nqWpcOAQ==","signature_status":"signed_v1","signed_at":"2026-08-07T01:41:30.957367Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.06375","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:925c9bc5b9ac71d4d6eee7253c0455a118feab41576a80bca5e4c0960f7e096d","sha256:2edd28b6c46574566ce82322caa5736339f7b7cea00c6559a22648316d878838"],"state_sha256":"34fa2519857c46beb9f57f1cdb540df0c7cd4fead794466e1e5aab44a17ca882"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"yYZ85wuKwX4qcIdcAZ4ZvpcOmyHN0BuHkZ6XoM8zasIz+qy8FHaHx9Y34eIB6x8N0tjIxh2iOKAkoNA0cWAcBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-09T09:16:21.496023Z","bundle_sha256":"2a19977ca7332296de23a1e999940b88ed27a0814ea47006dbc496ce72e9491d"}}