{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FKPAU627ZG5VTGI57K3ZLL7H4L","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":"b1972ce7ff43cf31394fd2751f84e07d4e35fdf8c555b49af2626d4c29ed7daf","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T08:17:31Z","title_canon_sha256":"1dea6d8a2fb87b5d08d408dc289bc5bdced1cd0174446b69e47983d5f2bb4e29"},"schema_version":"1.0","source":{"id":"2606.29940","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.29940","created_at":"2026-06-30T02:17:41Z"},{"alias_kind":"arxiv_version","alias_value":"2606.29940v1","created_at":"2026-06-30T02:17:41Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29940","created_at":"2026-06-30T02:17:41Z"},{"alias_kind":"pith_short_12","alias_value":"FKPAU627ZG5V","created_at":"2026-06-30T02:17:41Z"},{"alias_kind":"pith_short_16","alias_value":"FKPAU627ZG5VTGI5","created_at":"2026-06-30T02:17:41Z"},{"alias_kind":"pith_short_8","alias_value":"FKPAU627","created_at":"2026-06-30T02:17:41Z"}],"graph_snapshots":[{"event_id":"sha256:6aae939088ce35fc2ce6368eea07c91d1489ef46e6351e49f258867826a6ebb2","target":"graph","created_at":"2026-06-30T02:17:41Z","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/2606.29940/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Direct transfer from human demonstration to learnable robot action is a crucial step towards scalable whole-body mobile manipulation. While human data scales better than mobile teleoperation, it requires overcoming significant embodiment gaps. Existing retargeting methods yield imprecise or inconsistent solutions, causing action multi-modality that prevents supervised policies from reliably converging. We present Whole-body-Aware Retargeting from human Pose (WARP), an offline pipeline that explicitly models embodiment differences to extract precise, unique whole-body actions. WARP leverages a ","authors_text":"Chuizheng Kong, Chuye Zhang, Danfei Xu, Lawrence Y. Zhu, Shreyas Kousik, Yuanshao Yang, Zhenyang Chen","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T08:17:31Z","title":"WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29940","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":"sha256:7627c5f3baa4d00a8b629d6c2b66ea50cd57677cc0d79fd859feefbf75ae0f4d","target":"record","created_at":"2026-06-30T02:17:41Z","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":"b1972ce7ff43cf31394fd2751f84e07d4e35fdf8c555b49af2626d4c29ed7daf","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-29T08:17:31Z","title_canon_sha256":"1dea6d8a2fb87b5d08d408dc289bc5bdced1cd0174446b69e47983d5f2bb4e29"},"schema_version":"1.0","source":{"id":"2606.29940","kind":"arxiv","version":1}},"canonical_sha256":"2a9e0a7b5fc9bb59991dfab795afe7e2d63792dad19eec2ca4406a33d4e9eb77","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2a9e0a7b5fc9bb59991dfab795afe7e2d63792dad19eec2ca4406a33d4e9eb77","first_computed_at":"2026-06-30T02:17:41.859562Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-30T02:17:41.859562Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3BltY7AHkwTONOsFehYhAA00D4QsM6add8Rw5CMNLwqU7/Jdcnj5ArkzVuJRzfmgb5knPC2kNa1XHOGNspKxBg==","signature_status":"signed_v1","signed_at":"2026-06-30T02:17:41.860289Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.29940","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7627c5f3baa4d00a8b629d6c2b66ea50cd57677cc0d79fd859feefbf75ae0f4d","sha256:6aae939088ce35fc2ce6368eea07c91d1489ef46e6351e49f258867826a6ebb2"],"state_sha256":"3f85639cd7a657b053dd1fe60c5ce705cfff1c18ee99f979072bb12cae80fd6a"}