{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:ZFULWBDGW4S77ZEIAWZEA4IWS2","short_pith_number":"pith:ZFULWBDG","canonical_record":{"source":{"id":"2606.29209","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T05:20:37Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e54ca93b6bb3df83215a13d4f1deafaeedbce58aa54af298bd98f9c8044e6087","abstract_canon_sha256":"a5e24424d9d8b07f31ce5a04adc70f22a9a98d3f29ab83220c54fdf3f1610f8f"},"schema_version":"1.0"},"canonical_sha256":"c968bb0466b725ffe48805b240711696bee6e1dffc59cbb10701e03d98838712","source":{"kind":"arxiv","id":"2606.29209","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.29209","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"arxiv_version","alias_value":"2606.29209v1","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29209","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_12","alias_value":"ZFULWBDGW4S7","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_16","alias_value":"ZFULWBDGW4S77ZEI","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_8","alias_value":"ZFULWBDG","created_at":"2026-06-30T01:17:57Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:ZFULWBDGW4S77ZEIAWZEA4IWS2","target":"record","payload":{"canonical_record":{"source":{"id":"2606.29209","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T05:20:37Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"e54ca93b6bb3df83215a13d4f1deafaeedbce58aa54af298bd98f9c8044e6087","abstract_canon_sha256":"a5e24424d9d8b07f31ce5a04adc70f22a9a98d3f29ab83220c54fdf3f1610f8f"},"schema_version":"1.0"},"canonical_sha256":"c968bb0466b725ffe48805b240711696bee6e1dffc59cbb10701e03d98838712","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-30T01:17:57.351443Z","signature_b64":"XFGFPCweRqYunviDUEWLEYyOcTZxZY1RNlDy/Z1Jy9sGeNptookq92Zs9CXmjctv+Reo08Ff96wxcGB5JUrrBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"c968bb0466b725ffe48805b240711696bee6e1dffc59cbb10701e03d98838712","last_reissued_at":"2026-06-30T01:17:57.350923Z","signature_status":"signed_v1","first_computed_at":"2026-06-30T01:17:57.350923Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2606.29209","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":"2026-06-30T01:17:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7QhcZtGAZIoGXDUSn9HJkGjYd6h9/qaPWpWfyOE5Kf3GRhMQLnQGg3yqRenyuBhA/FkogB8vrvHTRaOz7/kSDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T14:02:47.374975Z"},"content_sha256":"9958701742a89aecd602e2f2f64793cbc26769eb569b50f33432591b6b736b86","schema_version":"1.0","event_id":"sha256:9958701742a89aecd602e2f2f64793cbc26769eb569b50f33432591b6b736b86"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:ZFULWBDGW4S77ZEIAWZEA4IWS2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Jiachen Li, Mingyu Ding, Shuning Li, Sikai Li","submitted_at":"2026-06-28T05:20:37Z","abstract_excerpt":"We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expensive full-body motion capture and error-prone trajectory retargeting, which bottleneck scalable data collection and policy learning, or decompose upper- and lower-body control into separate hierarchical representations, sacrificing the coordinated whole-body motions that loco-manipulation requires. We close this gap by learning a single latent motion representation that any keypoint subset can address. To achieve th"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29209","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/2606.29209/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":"2026-06-30T01:17:57Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"pCBpsn/ci9ST7xQIliPAfL8gpoPYAG7CfJ4pS6zvvo0H9WXq/ULBKMe7J/maZ7MBYArYiWD/h0kymt6q9P43Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-30T14:02:47.375365Z"},"content_sha256":"8a19ab3485ad75d73dc7b53c942cb19c9d32a73663df9f26b84f6f8b2242f7b5","schema_version":"1.0","event_id":"sha256:8a19ab3485ad75d73dc7b53c942cb19c9d32a73663df9f26b84f6f8b2242f7b5"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/bundle.json","state_url":"https://pith.science/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/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":"2026-06-30T14:02:47Z","links":{"resolver":"https://pith.science/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2","bundle":"https://pith.science/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/bundle.json","state":"https://pith.science/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZFULWBDGW4S77ZEIAWZEA4IWS2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:ZFULWBDGW4S77ZEIAWZEA4IWS2","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":"a5e24424d9d8b07f31ce5a04adc70f22a9a98d3f29ab83220c54fdf3f1610f8f","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T05:20:37Z","title_canon_sha256":"e54ca93b6bb3df83215a13d4f1deafaeedbce58aa54af298bd98f9c8044e6087"},"schema_version":"1.0","source":{"id":"2606.29209","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.29209","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"arxiv_version","alias_value":"2606.29209v1","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.29209","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_12","alias_value":"ZFULWBDGW4S7","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_16","alias_value":"ZFULWBDGW4S77ZEI","created_at":"2026-06-30T01:17:57Z"},{"alias_kind":"pith_short_8","alias_value":"ZFULWBDG","created_at":"2026-06-30T01:17:57Z"}],"graph_snapshots":[{"event_id":"sha256:8a19ab3485ad75d73dc7b53c942cb19c9d32a73663df9f26b84f6f8b2242f7b5","target":"graph","created_at":"2026-06-30T01:17:57Z","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/2606.29209/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present AnyBody, a unified whole-body humanoid controller driven by an arbitrary subset of body keypoints chosen at deploy time. Prior physics-based trackers either rely on expensive full-body motion capture and error-prone trajectory retargeting, which bottleneck scalable data collection and policy learning, or decompose upper- and lower-body control into separate hierarchical representations, sacrificing the coordinated whole-body motions that loco-manipulation requires. We close this gap by learning a single latent motion representation that any keypoint subset can address. To achieve th","authors_text":"Jiachen Li, Mingyu Ding, Shuning Li, Sikai Li","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T05:20:37Z","title":"AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.29209","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":"sha256:9958701742a89aecd602e2f2f64793cbc26769eb569b50f33432591b6b736b86","target":"record","created_at":"2026-06-30T01:17:57Z","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":"a5e24424d9d8b07f31ce5a04adc70f22a9a98d3f29ab83220c54fdf3f1610f8f","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-28T05:20:37Z","title_canon_sha256":"e54ca93b6bb3df83215a13d4f1deafaeedbce58aa54af298bd98f9c8044e6087"},"schema_version":"1.0","source":{"id":"2606.29209","kind":"arxiv","version":1}},"canonical_sha256":"c968bb0466b725ffe48805b240711696bee6e1dffc59cbb10701e03d98838712","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c968bb0466b725ffe48805b240711696bee6e1dffc59cbb10701e03d98838712","first_computed_at":"2026-06-30T01:17:57.350923Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-30T01:17:57.350923Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XFGFPCweRqYunviDUEWLEYyOcTZxZY1RNlDy/Z1Jy9sGeNptookq92Zs9CXmjctv+Reo08Ff96wxcGB5JUrrBg==","signature_status":"signed_v1","signed_at":"2026-06-30T01:17:57.351443Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.29209","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9958701742a89aecd602e2f2f64793cbc26769eb569b50f33432591b6b736b86","sha256:8a19ab3485ad75d73dc7b53c942cb19c9d32a73663df9f26b84f6f8b2242f7b5"],"state_sha256":"f974dba4d325c2a26de9327294b6343b54bb01664b49520927590c15f4603bd7"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oAVgQ54pHg9IEP9f2tTHryGgKY/1nNmQYsyxJimtlSLOPgihnPaBy05mz0P3wrCyEv129HJ75hnVAWrq2dTyDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-30T14:02:47.377361Z","bundle_sha256":"f6be24fffcdcf73d9eb489b71234164668beba5be61daac23901d97e79803e74"}}