Pith Number

pith:XJLPL5FD

pith:2025:XJLPL5FDXQVDKOL2W4UU4JOBHE

not attested not anchored not stored refs pending

CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks

Jieming Cui, Siyuan Huang, Tengyu Liu, Wei Liang, Yixin Zhu, Yixuan Li, Yutang Lin

arxiv:2506.08931 v2 · 2025-06-10 · cs.RO

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

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{XJLPL5FDXQVDKOL2W4UU4JOBHE}

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

13 papers in Pith

HumanoidUMI: Bridging Robot-Free Demonstrations and Humanoid Whole-Body Manipulation

X-OP: Cross-Morphology Whole-Body Teleoperation via MPC Retargeting

LIMMT: Less is More for Motion Tracking

Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking

Any2Any: Efficient Cross-Embodiment Transfer for Humanoid Whole-Body Tracking

Receipt and verification

First computed	2026-07-05T12:02:02.681393Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

ba56f5f4a3bc2a35397ab7294e25c13910af63cdc458edb584922b558f170fe9

Aliases

arxiv: 2506.08931 · arxiv_version: 2506.08931v2 · doi: 10.48550/arxiv.2506.08931 · pith_short_12: XJLPL5FDXQVD · pith_short_16: XJLPL5FDXQVDKOL2 · pith_short_8: XJLPL5FD

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/XJLPL5FDXQVDKOL2W4UU4JOBHE \
  | 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: ba56f5f4a3bc2a35397ab7294e25c13910af63cdc458edb584922b558f170fe9

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "b892b3a2dd40b8782a3d7a66ee02ac1e72adadb3cd3bb4e86eb43cda1c773ecd",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2025-06-10T15:58:29Z",
    "title_canon_sha256": "6bbd8996eb502a012309b91689f2c0d7ed5bf7acfc44f5ed3a5d17d70a723232"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2506.08931",
    "kind": "arxiv",
    "version": 2
  }
}