{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_29709c738c8ee4794e4994d088b0c886d409fe8468c9ab379913782e696aeb69","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_29709c738c8ee4794e4994d088b0c886d409fe8468c9ab379913782e696aeb69","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"2de20ee4e07bcdbbb7a00e1a3c00fa54bf150769ae0510369c70ca2fa6b4ee6f","published":"Tue, 30 Jun 2026 00:00:00 -0400","receipt_hash":"2de20ee4e07bcdbbb7a00e1a3c00fa54bf150769ae0510369c70ca2fa6b4ee6f","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"2de20ee4e07bcdbbb7a00e1a3c00fa54bf150769ae0510369c70ca2fa6b4ee6f","observed_at":"2026-06-30T04:43:04.087680Z","parent_run_hash":"74f7ab392cc702044101fe24a76a2fdad11164cd79ce725aad6c446a477e89c5","published":"Tue, 30 Jun 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2606.29209v1 Announce Type: cross \nAbstract: 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 this, we first train a privileged teacher tracker on a large unstructured motion corpus and distill it online into a deterministic encoder-decoder student whose latent space is a unit sphere. We then train a transformer keypoint encoder that admits any subset of body keypoints through masked self-attention, aligning it to the privileged latent. Addi","title":"AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance","url":"https://arxiv.org/abs/2606.29209","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.29209v1 Announce Type: cross \nAbstract: 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 this, we first train a privileged teacher tracker on a large unstructured motion corpus and distill it online into a deterministic encoder-decoder student whose latent space is a unit sphere. We then train a transformer keypoint encoder that admits any subset of body keypoints through masked self-attention, aligning it to the privileged latent. Addi","title":"AnyBody: Free-Form Whole-Body Humanoid Control from Arbitrary Keypoint Guidance","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-30T04:43:04Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.29209"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:e2cef2f391d3d574382458c1c4473c843f4dce0cb7bd212371bc242cb50353b323a32e92e3718adaad28229ee28b45b5d0027d16e490c69a8ab2888575559b0f","signer":"crovia.substrate","subject":{"observed_at":"2026-06-30T04:43:04Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.29209"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"bfa0d49cf16a6df176e652c93464532f33f77ac16984fea8d5465893467d65ac","leaf_index":264878,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a51e49c7dd8ddb5dfe5fd4869d3357ffee137572790f91ebdf43a84c419d45b4","side":"right"},{"sibling":"c66999e82c90a1a50a7334ec846cbd8c1ac6226ac89f7654154b534fc393fcf2","side":"left"},{"sibling":"df2efeb9dd14c459f83ea1cb56104da9c832acbdef2aa6ca7e43ab7da0c09bd7","side":"left"},{"sibling":"1054404dbb38088ff010c50709be94c40074f804309f0b3344ff878b04440b8c","side":"left"},{"sibling":"df2dbe9a93b9b557bbb84d8bbf5db71ee1cd98f48e0492c84484a171f901c9d1","side":"right"},{"sibling":"08f8bb7a77c336bb7bf56b4bb9701dc787b4388392021a3cc60345143966d0de","side":"left"},{"sibling":"07528e32fda4a58ff6ab8ca2268cc78d4ff4ed66bfadde9432f593a2fb4e74e7","side":"right"},{"sibling":"86ba07f5dfcbf22e044b5aa0ecc15cd2f29de9218e54da603c4ffe753c522516","side":"left"},{"sibling":"5767f14b55df4212d25ae2f52b8f3d4abff2555c65ba62935ed6cb0a8e617b43","side":"right"},{"sibling":"1549a8883ab3267f958dc2624919e40c65c82958b8005967ed6a4da1247da0ad","side":"left"},{"sibling":"23994bf0974e5c9c7f63a61b4f0a48b0ca756a4adc34a8f85f878e774c37dfbe","side":"right"},{"sibling":"f9b4bed84fa6990c71ad2887c91bda183001f05f6b648f21d1273045a26b11fd","side":"left"},{"sibling":"173d2dc4b29ee04ea41d6d0ebc334c4bc2d46e7ee4230c94765413f24fb4bc42","side":"right"},{"sibling":"112461f7c0ec411116fb5c6c90fe95cea9d8f188b9fe08afe25a837ac02d0071","side":"right"},{"sibling":"ea9488204352c49db8f7daf05eefcd7628ecf9413830346674801a99d0654a94","side":"right"},{"sibling":"6261c13b9922cb657f10d1e5d36ec15d8771cf8766e36c61dcbffb7bed57e396","side":"right"},{"sibling":"fa19aa3faf287618b820bcfceebb366152ad521dd20ef9f51e977816663e448b","side":"right"},{"sibling":"c32f943406b62d1fc59b7f7e243492174c8e1caba8c8a2705f86c773315736e0","side":"right"},{"sibling":"1cecb7f447febd025aac272837c80de218aecc6485d2395a509b2a1f1b9c746e","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":265374,"merkle_root":"9636001ecab173cb6af10dc7c71eb14585daa62f9c0a6f027046f05633156891","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260630T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-30T05:38:03Z","sig_algorithm":"ed25519","signature":"6d4b8fd9b9da856cbb5fba7540877c6a63fa18a5ec3eaf28dc4d6d1c64921c9c0565f8c95f4b7aec0e7744fd7754844f051baf863db708cad768765b416a7b0c","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_29709c738c8ee4794e4994d088b0c886d409fe8468c9ab379913782e696aeb69"}}