{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:OWTFDGLN7WFYNY67P3BEHDTXVT","short_pith_number":"pith:OWTFDGLN","canonical_record":{"source":{"id":"2608.07746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2026-08-07T20:26:34Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"26be563e09e4e3c16b2e7733485a3c28298e4440eabdac64a3790213306fbb93","abstract_canon_sha256":"e687da9026c10602977feca9f7fddb692c6b98f26246693823ae051ac23daa61"},"schema_version":"1.0"},"canonical_sha256":"75a651996dfd8b86e3df7ec2438e77acf62dad7b7524e69b0a2a8432c7f1beac","source":{"kind":"arxiv","id":"2608.07746","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.07746","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"arxiv_version","alias_value":"2608.07746v1","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.07746","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_12","alias_value":"OWTFDGLN7WFY","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_16","alias_value":"OWTFDGLN7WFYNY67","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_8","alias_value":"OWTFDGLN","created_at":"2026-08-11T00:15:51Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:OWTFDGLN7WFYNY67P3BEHDTXVT","target":"record","payload":{"canonical_record":{"source":{"id":"2608.07746","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2026-08-07T20:26:34Z","cross_cats_sorted":["cs.RO"],"title_canon_sha256":"26be563e09e4e3c16b2e7733485a3c28298e4440eabdac64a3790213306fbb93","abstract_canon_sha256":"e687da9026c10602977feca9f7fddb692c6b98f26246693823ae051ac23daa61"},"schema_version":"1.0"},"canonical_sha256":"75a651996dfd8b86e3df7ec2438e77acf62dad7b7524e69b0a2a8432c7f1beac","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-08-11T00:15:51.011606Z","signature_b64":"v/eCOX25jatENvoyTuBUz1NwbNxU9xgaaTxnL3D5N3FxgMtm92S7McfxtbqyI3jhe9PSZlaMfqwfu/rH/ZpXAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"75a651996dfd8b86e3df7ec2438e77acf62dad7b7524e69b0a2a8432c7f1beac","last_reissued_at":"2026-08-11T00:15:51.008911Z","signature_status":"signed_v1","first_computed_at":"2026-08-11T00:15:51.008911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2608.07746","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":"2026-08-11T00:15:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"2jxSwMvXl1QXkJTeCrVWkcz1HlaK8DOPbE2Rz7Fo9uMxU/qyppSZVp3nAl6yfu8xjVXtYLgej1btMJs4ZLsADA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T04:50:45.014762Z"},"content_sha256":"a61efb25a5190b1c192bab098c585f7dd86ab122a148e7097dcd653c69908e7c","schema_version":"1.0","event_id":"sha256:a61efb25a5190b1c192bab098c585f7dd86ab122a148e7097dcd653c69908e7c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:OWTFDGLN7WFYNY67P3BEHDTXVT","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.LG","authors_text":"Angelo Cangelosi, Arash Ajoudani, Cheng Guo, Mingzhe Ni","submitted_at":"2026-08-07T20:26:34Z","abstract_excerpt":"Long-horizon humanoid loco-manipulation requires composing versatile whole-body skills and reliable high-level decision making. Existing methods often coordinate pretrained skills with scripted planners, finite-state machines or task-specific model-free policies, restricting their ability to handle complex task sequences. To address this limitation, we propose \\textbf{LUCID}, a hierarchical model-based reinforcement learning framework that plans over reusable skills through imagined rollouts of a learned dynamics model. LUCID first trains a structured latent-conditioned low-level policy via ad"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.07746","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/2608.07746/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":"2026-08-11T00:15:51Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lphyZ70MHAVj06gK5yetJwzfdt4qL2FCOhRfI3ESg//xOBl198CyBno+/h9PIUCmMZMkLVhE//kpr+xkikuqCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T04:50:45.015910Z"},"content_sha256":"c76b1720a7906128277978141115e31e68c90ad7235f846d3afecf7d3957fb4f","schema_version":"1.0","event_id":"sha256:c76b1720a7906128277978141115e31e68c90ad7235f846d3afecf7d3957fb4f"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/bundle.json","state_url":"https://pith.science/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/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":"2026-08-22T04:50:45Z","links":{"resolver":"https://pith.science/pith/OWTFDGLN7WFYNY67P3BEHDTXVT","bundle":"https://pith.science/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/bundle.json","state":"https://pith.science/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/state.json","well_known_bundle":"https://pith.science/.well-known/pith/OWTFDGLN7WFYNY67P3BEHDTXVT/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:OWTFDGLN7WFYNY67P3BEHDTXVT","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":"e687da9026c10602977feca9f7fddb692c6b98f26246693823ae051ac23daa61","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2026-08-07T20:26:34Z","title_canon_sha256":"26be563e09e4e3c16b2e7733485a3c28298e4440eabdac64a3790213306fbb93"},"schema_version":"1.0","source":{"id":"2608.07746","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.07746","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"arxiv_version","alias_value":"2608.07746v1","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.07746","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_12","alias_value":"OWTFDGLN7WFY","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_16","alias_value":"OWTFDGLN7WFYNY67","created_at":"2026-08-11T00:15:51Z"},{"alias_kind":"pith_short_8","alias_value":"OWTFDGLN","created_at":"2026-08-11T00:15:51Z"}],"graph_snapshots":[{"event_id":"sha256:c76b1720a7906128277978141115e31e68c90ad7235f846d3afecf7d3957fb4f","target":"graph","created_at":"2026-08-11T00:15:51Z","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/2608.07746/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Long-horizon humanoid loco-manipulation requires composing versatile whole-body skills and reliable high-level decision making. Existing methods often coordinate pretrained skills with scripted planners, finite-state machines or task-specific model-free policies, restricting their ability to handle complex task sequences. To address this limitation, we propose \\textbf{LUCID}, a hierarchical model-based reinforcement learning framework that plans over reusable skills through imagined rollouts of a learned dynamics model. LUCID first trains a structured latent-conditioned low-level policy via ad","authors_text":"Angelo Cangelosi, Arash Ajoudani, Cheng Guo, Mingzhe Ni","cross_cats":["cs.RO"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2026-08-07T20:26:34Z","title":"LUCID: Latent-Skill Unified Control via Imagined Dynamics for Long-Horizon Humanoid Loco-Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.07746","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:a61efb25a5190b1c192bab098c585f7dd86ab122a148e7097dcd653c69908e7c","target":"record","created_at":"2026-08-11T00:15:51Z","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":"e687da9026c10602977feca9f7fddb692c6b98f26246693823ae051ac23daa61","cross_cats_sorted":["cs.RO"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.LG","submitted_at":"2026-08-07T20:26:34Z","title_canon_sha256":"26be563e09e4e3c16b2e7733485a3c28298e4440eabdac64a3790213306fbb93"},"schema_version":"1.0","source":{"id":"2608.07746","kind":"arxiv","version":1}},"canonical_sha256":"75a651996dfd8b86e3df7ec2438e77acf62dad7b7524e69b0a2a8432c7f1beac","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"75a651996dfd8b86e3df7ec2438e77acf62dad7b7524e69b0a2a8432c7f1beac","first_computed_at":"2026-08-11T00:15:51.008911Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-11T00:15:51.008911Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"v/eCOX25jatENvoyTuBUz1NwbNxU9xgaaTxnL3D5N3FxgMtm92S7McfxtbqyI3jhe9PSZlaMfqwfu/rH/ZpXAw==","signature_status":"signed_v1","signed_at":"2026-08-11T00:15:51.011606Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.07746","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a61efb25a5190b1c192bab098c585f7dd86ab122a148e7097dcd653c69908e7c","sha256:c76b1720a7906128277978141115e31e68c90ad7235f846d3afecf7d3957fb4f"],"state_sha256":"ad5c2f5a93fee10288258790d63895621a141572ba4ca187931a3c746f3d5119"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"ycnhS8NBbCttTIIof/4crirHFwLtdiSBZ6VvMuTmr/XFra5oW8HW5iUnUOXE8PrFC07V4FM3ZYv3vKr0+VmPAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T04:50:45.020188Z","bundle_sha256":"911ca817079844e35c73b120cba94e385f42f77705b2004bdf70dfcf852d11a6"}}