Pith Number

pith:NTGW3B7P

pith:2025:NTGW3B7P3SNLQOGCPMZHHGMULC

not attested not anchored not stored refs pending

OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction

Angjoo Kanazawa, Carmelo Sferrazza, C. Karen Liu, Guanya Shi, Lujie Yang, Pieter Abbeel, Rocky Duan, Xiaoyu Huang, Zhen Wu

arxiv:2509.26633 v3 · 2025-09-30 · cs.RO · cs.AI · cs.LG · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{NTGW3B7P3SNLQOGCPMZHHGMULC}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

12 papers in Pith

Imagine2Real: Towards Zero-shot Humanoid-Object Interaction via Video Generative Priors

HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control

Humanoid Whole-Body Manipulation via Active Spatial Brain and Generalizable Action Cerebellum

CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

HAIC: Humanoid Agile Object Interaction Control via Dynamics-Aware World Model

Receipt and verification

First computed	2026-06-19T16:09:51.381682Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d

Aliases

arxiv: 2509.26633 · arxiv_version: 2509.26633v3 · doi: 10.48550/arxiv.2509.26633 · pith_short_12: NTGW3B7P3SNL · pith_short_16: NTGW3B7P3SNLQOGC · pith_short_8: NTGW3B7P

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/NTGW3B7P3SNLQOGCPMZHHGMULC \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 6ccd6d87efdc9ab838c27b3273999458bc89ce35acf000519f4f3a6a715f332d

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "54f4a10d3fac5379b85528cfea4ff5a8212bd3e585b6bfe0d60ed4c3b9057f78",
    "cross_cats_sorted": [
      "cs.AI",
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-09-30T17:59:02Z",
    "title_canon_sha256": "c90b7c55da704b7687db1900170f7510f6f55e29ce9cea53a378fdaa9e9a01ec"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2509.26633",
    "kind": "arxiv",
    "version": 3
  }
}