{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FQ54454YG7Q33CK7CUIXOOELGW","short_pith_number":"pith:FQ54454Y","canonical_record":{"source":{"id":"2607.02332","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T15:37:37Z","cross_cats_sorted":[],"title_canon_sha256":"48c9db6d8756654290d3bf25f2fe4004536634ece6ef2dec4ebfc910ffadb1f4","abstract_canon_sha256":"954e171312e3ff7da0fca15c249d7df868d5ab5d71332c654c523570ebb541a2"},"schema_version":"1.0"},"canonical_sha256":"2c3bce779837e1bd895f151177388b3582c907e153b2878504a5bf323b7fda8c","source":{"kind":"arxiv","id":"2607.02332","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.02332","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"arxiv_version","alias_value":"2607.02332v1","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.02332","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_12","alias_value":"FQ54454YG7Q3","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_16","alias_value":"FQ54454YG7Q33CK7","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_8","alias_value":"FQ54454Y","created_at":"2026-07-03T01:17:48Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FQ54454YG7Q33CK7CUIXOOELGW","target":"record","payload":{"canonical_record":{"source":{"id":"2607.02332","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T15:37:37Z","cross_cats_sorted":[],"title_canon_sha256":"48c9db6d8756654290d3bf25f2fe4004536634ece6ef2dec4ebfc910ffadb1f4","abstract_canon_sha256":"954e171312e3ff7da0fca15c249d7df868d5ab5d71332c654c523570ebb541a2"},"schema_version":"1.0"},"canonical_sha256":"2c3bce779837e1bd895f151177388b3582c907e153b2878504a5bf323b7fda8c","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-03T01:17:48.663005Z","signature_b64":"a+iSZ7G++QJShJyC2YMxWTWLNoOdCTQcr3wQQrJaLseWby25VFRUce81Z0ve5qaIe+b2NubJKZ+E1ZZX845RCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2c3bce779837e1bd895f151177388b3582c907e153b2878504a5bf323b7fda8c","last_reissued_at":"2026-07-03T01:17:48.662603Z","signature_status":"signed_v1","first_computed_at":"2026-07-03T01:17:48.662603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2607.02332","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":"2026-07-03T01:17:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"vk/eO8lxwTjClcEbTh5vXi84GIi4uxL9SlOFOKq/D1afUDtK2jVdgm098g+ZZF/L7ll47ut8YFYd7d5mPjbqAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T18:13:43.650287Z"},"content_sha256":"e5240fc3902e97c99d31b8bd50aa8f4b6d364064518d7caa7c92f3f601a5dc05","schema_version":"1.0","event_id":"sha256:e5240fc3902e97c99d31b8bd50aa8f4b6d364064518d7caa7c92f3f601a5dc05"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FQ54454YG7Q33CK7CUIXOOELGW","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chenghan Yang, Chenxin Liu, Guangxiao Yang, Jianyu Chen, Qingzhou Lu, Xuanyang Shi, Yanjiang Guo","submitted_at":"2026-07-02T15:37:37Z","abstract_excerpt":"General motion tracking and teleoperation offer a promising path to scalable humanoid skill acquisition, yet most existing frameworks are validated on compact platforms or without real payload interaction, leaving full-size humanoids with real payloads largely unexplored. Scaling to full-size humanoids introduces two compounding challenges: their larger inertia and tighter balance margins make tracking highly sensitive to noise, drift, and retargeting errors from commodity VR trackers, while their payload potential remains largely underutilized. We present HEFT, a heavy-payload full-size human"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.02332","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/2607.02332/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":"2026-07-03T01:17:48Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WxJLxb8CIlwEyU5kB80meVlmdY5dtPNYaotInn+HOdvHEpS6x68X9hePVXUCjOWg5pdAWC1XJ4NVyNccx+yBBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-04T18:13:43.650699Z"},"content_sha256":"699a4c57cc109337c6b986f9dc2362b5811d74b4c21b6605a5ad31ae95696944","schema_version":"1.0","event_id":"sha256:699a4c57cc109337c6b986f9dc2362b5811d74b4c21b6605a5ad31ae95696944"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FQ54454YG7Q33CK7CUIXOOELGW/bundle.json","state_url":"https://pith.science/pith/FQ54454YG7Q33CK7CUIXOOELGW/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FQ54454YG7Q33CK7CUIXOOELGW/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":"2026-07-04T18:13:43Z","links":{"resolver":"https://pith.science/pith/FQ54454YG7Q33CK7CUIXOOELGW","bundle":"https://pith.science/pith/FQ54454YG7Q33CK7CUIXOOELGW/bundle.json","state":"https://pith.science/pith/FQ54454YG7Q33CK7CUIXOOELGW/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FQ54454YG7Q33CK7CUIXOOELGW/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FQ54454YG7Q33CK7CUIXOOELGW","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":"954e171312e3ff7da0fca15c249d7df868d5ab5d71332c654c523570ebb541a2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T15:37:37Z","title_canon_sha256":"48c9db6d8756654290d3bf25f2fe4004536634ece6ef2dec4ebfc910ffadb1f4"},"schema_version":"1.0","source":{"id":"2607.02332","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2607.02332","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"arxiv_version","alias_value":"2607.02332v1","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.02332","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_12","alias_value":"FQ54454YG7Q3","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_16","alias_value":"FQ54454YG7Q33CK7","created_at":"2026-07-03T01:17:48Z"},{"alias_kind":"pith_short_8","alias_value":"FQ54454Y","created_at":"2026-07-03T01:17:48Z"}],"graph_snapshots":[{"event_id":"sha256:699a4c57cc109337c6b986f9dc2362b5811d74b4c21b6605a5ad31ae95696944","target":"graph","created_at":"2026-07-03T01:17:48Z","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/2607.02332/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"General motion tracking and teleoperation offer a promising path to scalable humanoid skill acquisition, yet most existing frameworks are validated on compact platforms or without real payload interaction, leaving full-size humanoids with real payloads largely unexplored. Scaling to full-size humanoids introduces two compounding challenges: their larger inertia and tighter balance margins make tracking highly sensitive to noise, drift, and retargeting errors from commodity VR trackers, while their payload potential remains largely underutilized. We present HEFT, a heavy-payload full-size human","authors_text":"Chenghan Yang, Chenxin Liu, Guangxiao Yang, Jianyu Chen, Qingzhou Lu, Xuanyang Shi, Yanjiang Guo","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T15:37:37Z","title":"HEFT: Heavy-Payload Full-size Humanoid Teleoperation with Privileged Motion Guidance and Windowed Payload Curriculum"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.02332","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:e5240fc3902e97c99d31b8bd50aa8f4b6d364064518d7caa7c92f3f601a5dc05","target":"record","created_at":"2026-07-03T01:17:48Z","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":"954e171312e3ff7da0fca15c249d7df868d5ab5d71332c654c523570ebb541a2","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-07-02T15:37:37Z","title_canon_sha256":"48c9db6d8756654290d3bf25f2fe4004536634ece6ef2dec4ebfc910ffadb1f4"},"schema_version":"1.0","source":{"id":"2607.02332","kind":"arxiv","version":1}},"canonical_sha256":"2c3bce779837e1bd895f151177388b3582c907e153b2878504a5bf323b7fda8c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2c3bce779837e1bd895f151177388b3582c907e153b2878504a5bf323b7fda8c","first_computed_at":"2026-07-03T01:17:48.662603Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-03T01:17:48.662603Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"a+iSZ7G++QJShJyC2YMxWTWLNoOdCTQcr3wQQrJaLseWby25VFRUce81Z0ve5qaIe+b2NubJKZ+E1ZZX845RCA==","signature_status":"signed_v1","signed_at":"2026-07-03T01:17:48.663005Z","signed_message":"canonical_sha256_bytes"},"source_id":"2607.02332","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e5240fc3902e97c99d31b8bd50aa8f4b6d364064518d7caa7c92f3f601a5dc05","sha256:699a4c57cc109337c6b986f9dc2362b5811d74b4c21b6605a5ad31ae95696944"],"state_sha256":"efd2c349eb92ab03b58e35053bc9dcdfe04a8ac8b7807e06b8e39144098144d1"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GMNUoCZQmhN3r0zOfkSliCzpfPQ06Y0j69IBXdefzapGXIvuCxiQILuHcqwzu7o3xTsqQ0/2gHQKeI8G3D8BDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-04T18:13:43.652736Z","bundle_sha256":"90ae1ccf582fe2d662864999f2e6c2231e84ed5f9c02390eb7aa1f466f3877f1"}}