{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:KJZGH3UZGVTOP72IAWL7PVD2AM","short_pith_number":"pith:KJZGH3UZ","canonical_record":{"source":{"id":"2406.10454","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-15T00:41:34Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"fc932bcc024e43614bf047c6a0648b798469523b5665c34c9ff152cf8f56d2a9","abstract_canon_sha256":"61e422c78f999de3386b416a8e080c599d270ae9c576976c745c3f6f09f76a02"},"schema_version":"1.0"},"canonical_sha256":"527263ee993566e7ff480597f7d47a0313548611d8f50d221a9445bc569f934d","source":{"kind":"arxiv","id":"2406.10454","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.10454","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"arxiv_version","alias_value":"2406.10454v1","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.10454","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_12","alias_value":"KJZGH3UZGVTO","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"KJZGH3UZGVTOP72I","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"KJZGH3UZ","created_at":"2026-07-05T08:32:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:KJZGH3UZGVTOP72IAWL7PVD2AM","target":"record","payload":{"canonical_record":{"source":{"id":"2406.10454","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-15T00:41:34Z","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"title_canon_sha256":"fc932bcc024e43614bf047c6a0648b798469523b5665c34c9ff152cf8f56d2a9","abstract_canon_sha256":"61e422c78f999de3386b416a8e080c599d270ae9c576976c745c3f6f09f76a02"},"schema_version":"1.0"},"canonical_sha256":"527263ee993566e7ff480597f7d47a0313548611d8f50d221a9445bc569f934d","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:32:16.942241Z","signature_b64":"x8nAcNOpHhGSzIWvgvhqUeGDkmgN8WAPv5s3HSSY1Sp0nDZRy+VHhqz938CbL/QGHof5Fbu7l1cyiu3jfHmtAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"527263ee993566e7ff480597f7d47a0313548611d8f50d221a9445bc569f934d","last_reissued_at":"2026-07-05T08:32:16.941832Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:32:16.941832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.10454","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":"2026-07-05T08:32:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"SQQKd9GslrZJgSLaHYS/J8lR4cyeJs0ilQQlhKXAInR/Ngwpfp3HiYXGJ7eBs+EI3oLVLb/65TkbfXW9y1CgCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T08:43:56.757746Z"},"content_sha256":"734d5e8d45eee3fdc0787d684637d65a6ca353bad60d4b2cc4ef51bb82db92ef","schema_version":"1.0","event_id":"sha256:734d5e8d45eee3fdc0787d684637d65a6ca353bad60d4b2cc4ef51bb82db92ef"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:KJZGH3UZGVTOP72IAWL7PVD2AM","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"HumanPlus: Humanoid Shadowing and Imitation from Humans","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Chelsea Finn, Gordon Wetzstein, Qingqing Zhao, Qi Wu, Zipeng Fu","submitted_at":"2024-06-15T00:41:34Z","abstract_excerpt":"One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid perception and control, lingering physical gaps between humanoids and humans in morphologies and actuation, and lack of a data pipeline for humanoids to learn autonomous skills from egocentric vision. In this paper, we introduce a full-stack system for humanoids to learn motion and autonomous skills from human data. We first train a low-level policy in simul"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.10454","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/2406.10454/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":"2026-07-05T08:32:16Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"obqi835pxbbPpw0o021vo7yn48/bvgFoRjL/W+GKldn9wegCfVjkWKoK8a52flWcAtIUCWyA3wAgleINuWiDBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-09T08:43:56.758145Z"},"content_sha256":"18ede7a4546365b35ba10ab3156eaa6134cd1042012eb5cdc3aae73676c29119","schema_version":"1.0","event_id":"sha256:18ede7a4546365b35ba10ab3156eaa6134cd1042012eb5cdc3aae73676c29119"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/bundle.json","state_url":"https://pith.science/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/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":"2026-07-09T08:43:56Z","links":{"resolver":"https://pith.science/pith/KJZGH3UZGVTOP72IAWL7PVD2AM","bundle":"https://pith.science/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/bundle.json","state":"https://pith.science/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/state.json","well_known_bundle":"https://pith.science/.well-known/pith/KJZGH3UZGVTOP72IAWL7PVD2AM/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:KJZGH3UZGVTOP72IAWL7PVD2AM","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":"61e422c78f999de3386b416a8e080c599d270ae9c576976c745c3f6f09f76a02","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-15T00:41:34Z","title_canon_sha256":"fc932bcc024e43614bf047c6a0648b798469523b5665c34c9ff152cf8f56d2a9"},"schema_version":"1.0","source":{"id":"2406.10454","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.10454","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"arxiv_version","alias_value":"2406.10454v1","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.10454","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_12","alias_value":"KJZGH3UZGVTO","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"KJZGH3UZGVTOP72I","created_at":"2026-07-05T08:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"KJZGH3UZ","created_at":"2026-07-05T08:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:18ede7a4546365b35ba10ab3156eaa6134cd1042012eb5cdc3aae73676c29119","target":"graph","created_at":"2026-07-05T08:32:16Z","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/2406.10454/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid perception and control, lingering physical gaps between humanoids and humans in morphologies and actuation, and lack of a data pipeline for humanoids to learn autonomous skills from egocentric vision. In this paper, we introduce a full-stack system for humanoids to learn motion and autonomous skills from human data. We first train a low-level policy in simul","authors_text":"Chelsea Finn, Gordon Wetzstein, Qingqing Zhao, Qi Wu, Zipeng Fu","cross_cats":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-15T00:41:34Z","title":"HumanPlus: Humanoid Shadowing and Imitation from Humans"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.10454","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":"sha256:734d5e8d45eee3fdc0787d684637d65a6ca353bad60d4b2cc4ef51bb82db92ef","target":"record","created_at":"2026-07-05T08:32:16Z","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":"61e422c78f999de3386b416a8e080c599d270ae9c576976c745c3f6f09f76a02","cross_cats_sorted":["cs.AI","cs.CV","cs.LG","cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-06-15T00:41:34Z","title_canon_sha256":"fc932bcc024e43614bf047c6a0648b798469523b5665c34c9ff152cf8f56d2a9"},"schema_version":"1.0","source":{"id":"2406.10454","kind":"arxiv","version":1}},"canonical_sha256":"527263ee993566e7ff480597f7d47a0313548611d8f50d221a9445bc569f934d","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"527263ee993566e7ff480597f7d47a0313548611d8f50d221a9445bc569f934d","first_computed_at":"2026-07-05T08:32:16.941832Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:32:16.941832Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"x8nAcNOpHhGSzIWvgvhqUeGDkmgN8WAPv5s3HSSY1Sp0nDZRy+VHhqz938CbL/QGHof5Fbu7l1cyiu3jfHmtAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:32:16.942241Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.10454","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:734d5e8d45eee3fdc0787d684637d65a6ca353bad60d4b2cc4ef51bb82db92ef","sha256:18ede7a4546365b35ba10ab3156eaa6134cd1042012eb5cdc3aae73676c29119"],"state_sha256":"faeb2ad468e58d940eda63801393b16e61908e4f26a1810cf7f25d574aee6c7a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WyX0e9a7cxYRCX5Rs/TQkO52j6mgZHxPHau8//lul33yq+6zeV3IO1WRHHMquGMSvETOX6yJFRq/QQzvxK/cCQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-09T08:43:56.760628Z","bundle_sha256":"93edaf37933d568ee4324b1048c1945ff21b5eed9abf051e8e2568287897245e"}}