{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:MKTUPF7VHAHT2UYZGD4SH54B2G","short_pith_number":"pith:MKTUPF7V","canonical_record":{"source":{"id":"2606.06139","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T13:19:49Z","cross_cats_sorted":[],"title_canon_sha256":"17f547b94aab4e6f11bcdb6cf493495cbbdbfc8829ddaa25a487ba0824e41d58","abstract_canon_sha256":"2813c9c87349515eea7e67ecb945f80596440482c9f2d58eed043d4f09448cd8"},"schema_version":"1.0"},"canonical_sha256":"62a74797f5380f3d531930f923f781d1b256528183c5b6c7140caad76ecf6153","source":{"kind":"arxiv","id":"2606.06139","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.06139","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"arxiv_version","alias_value":"2606.06139v1","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.06139","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_12","alias_value":"MKTUPF7VHAHT","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_16","alias_value":"MKTUPF7VHAHT2UYZ","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_8","alias_value":"MKTUPF7V","created_at":"2026-06-05T01:15:34Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:MKTUPF7VHAHT2UYZGD4SH54B2G","target":"record","payload":{"canonical_record":{"source":{"id":"2606.06139","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T13:19:49Z","cross_cats_sorted":[],"title_canon_sha256":"17f547b94aab4e6f11bcdb6cf493495cbbdbfc8829ddaa25a487ba0824e41d58","abstract_canon_sha256":"2813c9c87349515eea7e67ecb945f80596440482c9f2d58eed043d4f09448cd8"},"schema_version":"1.0"},"canonical_sha256":"62a74797f5380f3d531930f923f781d1b256528183c5b6c7140caad76ecf6153","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-05T01:15:34.862984Z","signature_b64":"FD0IRDKTEmTpu9uUvk0JmocJpY3U9uuOjqnhMqsSexu39c5nhTe/RYHNzS/kOfLeBkB2SwaX+AGOEDvPf9QQAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"62a74797f5380f3d531930f923f781d1b256528183c5b6c7140caad76ecf6153","last_reissued_at":"2026-06-05T01:15:34.862267Z","signature_status":"signed_v1","first_computed_at":"2026-06-05T01:15:34.862267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.06139","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":"2026-06-05T01:15:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PUEUFJnpPSwVGcFGe8u/90q3umcuUDTGwupTZ8l/dK/I3lP4cCxNN1WLQ57JBuypIpEFrYwcnIQIevg+2qKWBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T02:36:38.339118Z"},"content_sha256":"cb2f4dd7066263cac65b3b2f6517f5a7d49040ac070c4af5b71997e501f48449","schema_version":"1.0","event_id":"sha256:cb2f4dd7066263cac65b3b2f6517f5a7d49040ac070c4af5b71997e501f48449"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:MKTUPF7VHAHT2UYZGD4SH54B2G","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aaron M. Johnson, Angela Dai, Haizhou Zhao, Ilyass Taouil, Majid Khadiv, Michal Ciebelski, Shafeef Omar","submitted_at":"2026-06-04T13:19:49Z","abstract_excerpt":"We present MotionDisco, a framework that discovers contact-rich, long-horizon humanoid loco-manipulation motions from scratch, without relying on teleoperation or motion retargeting from human demonstrations. This is challenging because the space of possible contact interactions grows combinatorially with the task horizon and the number of objects in the scene. MotionDisco enables rapid discovery of novel motions by coupling a large language model (LLM) guided evolutionary search over sequences of interactions with an efficient sequential kinodynamic trajectory optimizer and pruning strategy, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06139","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/2606.06139/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":"2026-06-05T01:15:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nNMbu+8ci39s/f2+X0eOhOAb3V/llTVu5LuWrqQTL5Js81+t5StxS/YVS4A5MblA3DJFoHdf64tcFtHUA2EfDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T02:36:38.339776Z"},"content_sha256":"edba1746094ec95a28cee32455741afc79e044a874f8a1768aa0b598ef480fc7","schema_version":"1.0","event_id":"sha256:edba1746094ec95a28cee32455741afc79e044a874f8a1768aa0b598ef480fc7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/bundle.json","state_url":"https://pith.science/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/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":"2026-06-12T02:36:38Z","links":{"resolver":"https://pith.science/pith/MKTUPF7VHAHT2UYZGD4SH54B2G","bundle":"https://pith.science/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/bundle.json","state":"https://pith.science/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/state.json","well_known_bundle":"https://pith.science/.well-known/pith/MKTUPF7VHAHT2UYZGD4SH54B2G/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:MKTUPF7VHAHT2UYZGD4SH54B2G","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":"2813c9c87349515eea7e67ecb945f80596440482c9f2d58eed043d4f09448cd8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T13:19:49Z","title_canon_sha256":"17f547b94aab4e6f11bcdb6cf493495cbbdbfc8829ddaa25a487ba0824e41d58"},"schema_version":"1.0","source":{"id":"2606.06139","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.06139","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"arxiv_version","alias_value":"2606.06139v1","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.06139","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_12","alias_value":"MKTUPF7VHAHT","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_16","alias_value":"MKTUPF7VHAHT2UYZ","created_at":"2026-06-05T01:15:34Z"},{"alias_kind":"pith_short_8","alias_value":"MKTUPF7V","created_at":"2026-06-05T01:15:34Z"}],"graph_snapshots":[{"event_id":"sha256:edba1746094ec95a28cee32455741afc79e044a874f8a1768aa0b598ef480fc7","target":"graph","created_at":"2026-06-05T01:15:34Z","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/2606.06139/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present MotionDisco, a framework that discovers contact-rich, long-horizon humanoid loco-manipulation motions from scratch, without relying on teleoperation or motion retargeting from human demonstrations. This is challenging because the space of possible contact interactions grows combinatorially with the task horizon and the number of objects in the scene. MotionDisco enables rapid discovery of novel motions by coupling a large language model (LLM) guided evolutionary search over sequences of interactions with an efficient sequential kinodynamic trajectory optimizer and pruning strategy, ","authors_text":"Aaron M. Johnson, Angela Dai, Haizhou Zhao, Ilyass Taouil, Majid Khadiv, Michal Ciebelski, Shafeef Omar","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T13:19:49Z","title":"MotionDisco: Motion Discovery for Extreme Humanoid Loco-Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.06139","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:cb2f4dd7066263cac65b3b2f6517f5a7d49040ac070c4af5b71997e501f48449","target":"record","created_at":"2026-06-05T01:15:34Z","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":"2813c9c87349515eea7e67ecb945f80596440482c9f2d58eed043d4f09448cd8","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T13:19:49Z","title_canon_sha256":"17f547b94aab4e6f11bcdb6cf493495cbbdbfc8829ddaa25a487ba0824e41d58"},"schema_version":"1.0","source":{"id":"2606.06139","kind":"arxiv","version":1}},"canonical_sha256":"62a74797f5380f3d531930f923f781d1b256528183c5b6c7140caad76ecf6153","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"62a74797f5380f3d531930f923f781d1b256528183c5b6c7140caad76ecf6153","first_computed_at":"2026-06-05T01:15:34.862267Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-05T01:15:34.862267Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"FD0IRDKTEmTpu9uUvk0JmocJpY3U9uuOjqnhMqsSexu39c5nhTe/RYHNzS/kOfLeBkB2SwaX+AGOEDvPf9QQAg==","signature_status":"signed_v1","signed_at":"2026-06-05T01:15:34.862984Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.06139","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:cb2f4dd7066263cac65b3b2f6517f5a7d49040ac070c4af5b71997e501f48449","sha256:edba1746094ec95a28cee32455741afc79e044a874f8a1768aa0b598ef480fc7"],"state_sha256":"7c387bf7cd3d1940888be080367ac52130edc5a63428811ea56ab72832cf9db0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"/KgAhu+sIS7hT0a5CNPmWYMejTUJl/jERMXjIEzogNdlX/CHfLH7lDhqWNhRu3eB+Sjn99cyPFwEYafzo08VCw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-12T02:36:38.343152Z","bundle_sha256":"fe0e888f58509d0c670b0e47caf86a619d6e3377ad77f276c9156e49ed62dc9b"}}