{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:ZEQPHG3R5EZ3N6AH6EN2OTCI4M","short_pith_number":"pith:ZEQPHG3R","schema_version":"1.0","canonical_sha256":"c920f39b71e933b6f807f11ba74c48e31420eeadab45d9f8285dbc1e687cdc7e","source":{"kind":"arxiv","id":"2607.25798","version":1},"attestation_state":"computed","paper":{"title":"Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"C. Karen Liu, Huy Ha, Shuran Song","submitted_at":"2026-07-28T14:47:14Z","abstract_excerpt":"An often overlooked factor of robot manipulation performance is the embodiment of the robot itself. Motivated by this problem, we study motion-conditioned robot co-design, where the goal is to generate complete robot designs that track target end-effector trajectories (from human demonstrations) while optimizing user-defined rewards. We introduce Transformer Transformer, a diffusion transformer trained on RoboTokens, a unified tokenization of robot embodiments, states, and actions. The same architecture can be used across embodiment spaces (e.g., wheeled bimanual, quadrupeds, humanoids) and us"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2607.25798","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-07-28T14:47:14Z","cross_cats_sorted":[],"title_canon_sha256":"14bcbaaf3adaa702acb52bd2360b4198a0c9a72d8ee007b68872f545e0c2c011","abstract_canon_sha256":"4c315b8b2402cb6e17e90e09c7185e3adc766435697d92d8aab0d7e92b750e6a"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-29T01:26:03.226138Z","signature_b64":"gvy39Y5+nG/++dq7PMhvodCPIDSxGIOy/gp7hJl7cAcXwTt6LHLAJvtc741/gmjXXrEAkwzToNX0W6QMPMMjCA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c920f39b71e933b6f807f11ba74c48e31420eeadab45d9f8285dbc1e687cdc7e","last_reissued_at":"2026-07-29T01:26:03.225236Z","signature_status":"signed_v1","first_computed_at":"2026-07-29T01:26:03.225236Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Transformer Transformer: A Unified Model for Motion-Conditioned Robot Co-design","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"C. Karen Liu, Huy Ha, Shuran Song","submitted_at":"2026-07-28T14:47:14Z","abstract_excerpt":"An often overlooked factor of robot manipulation performance is the embodiment of the robot itself. Motivated by this problem, we study motion-conditioned robot co-design, where the goal is to generate complete robot designs that track target end-effector trajectories (from human demonstrations) while optimizing user-defined rewards. We introduce Transformer Transformer, a diffusion transformer trained on RoboTokens, a unified tokenization of robot embodiments, states, and actions. The same architecture can be used across embodiment spaces (e.g., wheeled bimanual, quadrupeds, humanoids) and us"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.25798","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/2607.25798/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2607.25798","created_at":"2026-07-29T01:26:03.225704+00:00"},{"alias_kind":"arxiv_version","alias_value":"2607.25798v1","created_at":"2026-07-29T01:26:03.225704+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2607.25798","created_at":"2026-07-29T01:26:03.225704+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZEQPHG3R5EZ3","created_at":"2026-07-29T01:26:03.225704+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZEQPHG3R5EZ3N6AH","created_at":"2026-07-29T01:26:03.225704+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZEQPHG3R","created_at":"2026-07-29T01:26:03.225704+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M","json":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M.json","graph_json":"https://pith.science/api/pith-number/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/graph.json","events_json":"https://pith.science/api/pith-number/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/events.json","paper":"https://pith.science/paper/ZEQPHG3R"},"agent_actions":{"view_html":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M","download_json":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M.json","view_paper":"https://pith.science/paper/ZEQPHG3R","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2607.25798&json=true","fetch_graph":"https://pith.science/api/pith-number/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/graph.json","fetch_events":"https://pith.science/api/pith-number/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/action/storage_attestation","attest_author":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/action/author_attestation","sign_citation":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/action/citation_signature","submit_replication":"https://pith.science/pith/ZEQPHG3R5EZ3N6AH6EN2OTCI4M/action/replication_record"}},"created_at":"2026-07-29T01:26:03.225704+00:00","updated_at":"2026-07-29T01:26:03.225704+00:00"}