{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2023:3IASP6BWF4IQM4V4AZMZWRAAH5","short_pith_number":"pith:3IASP6BW","schema_version":"1.0","canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","source":{"kind":"arxiv","id":"2309.06955","version":3},"attestation_state":"computed","paper":{"title":"Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aude Billard, Farshad Khadivar, Kunpeng Yao, Xiao Gao","submitted_at":"2023-09-13T13:41:34Z","abstract_excerpt":"Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to prevent collisions and ensure undisturbed movement. This study introduces a real-time approach to motion planning in high-dimensional spaces. We first explicitly model the collision-free space using neural networks that are"},"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":"2309.06955","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T13:41:34Z","cross_cats_sorted":[],"title_canon_sha256":"331097a935866f5b8184cd5a763cfba9bfd248e9b9f6279b7b22d7ab7f51c208","abstract_canon_sha256":"2a455de1ea589985cc89b05883f588c6de95a6afba9c1a0ece10af48ac684998"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:40:55.020429Z","signature_b64":"/owH/DJQ84TMYQ9QF5COHBPD+FVm2OkbJWWa6gUouwRZXts2wvuOevm9JMImgjG3obLvuZSe4Ixz3Sf6FpLhBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","last_reissued_at":"2026-07-05T08:40:55.019998Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:40:55.019998Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Aude Billard, Farshad Khadivar, Kunpeng Yao, Xiao Gao","submitted_at":"2023-09-13T13:41:34Z","abstract_excerpt":"Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for all fingers must be generated in real-time, as the rapid changes in hand and finger positions necessitate instantaneous recalculations to prevent collisions and ensure undisturbed movement. This study introduces a real-time approach to motion planning in high-dimensional spaces. We first explicitly model the collision-free space using neural networks that are"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.06955","kind":"arxiv","version":3},"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/2309.06955/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":"2309.06955","created_at":"2026-07-05T08:40:55.020054+00:00"},{"alias_kind":"arxiv_version","alias_value":"2309.06955v3","created_at":"2026-07-05T08:40:55.020054+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.06955","created_at":"2026-07-05T08:40:55.020054+00:00"},{"alias_kind":"pith_short_12","alias_value":"3IASP6BWF4IQ","created_at":"2026-07-05T08:40:55.020054+00:00"},{"alias_kind":"pith_short_16","alias_value":"3IASP6BWF4IQM4V4","created_at":"2026-07-05T08:40:55.020054+00:00"},{"alias_kind":"pith_short_8","alias_value":"3IASP6BW","created_at":"2026-07-05T08:40:55.020054+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/3IASP6BWF4IQM4V4AZMZWRAAH5","json":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5.json","graph_json":"https://pith.science/api/pith-number/3IASP6BWF4IQM4V4AZMZWRAAH5/graph.json","events_json":"https://pith.science/api/pith-number/3IASP6BWF4IQM4V4AZMZWRAAH5/events.json","paper":"https://pith.science/paper/3IASP6BW"},"agent_actions":{"view_html":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5","download_json":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5.json","view_paper":"https://pith.science/paper/3IASP6BW","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2309.06955&json=true","fetch_graph":"https://pith.science/api/pith-number/3IASP6BWF4IQM4V4AZMZWRAAH5/graph.json","fetch_events":"https://pith.science/api/pith-number/3IASP6BWF4IQM4V4AZMZWRAAH5/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/action/timestamp_anchor","attest_storage":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/action/storage_attestation","attest_author":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/action/author_attestation","sign_citation":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/action/citation_signature","submit_replication":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/action/replication_record"}},"created_at":"2026-07-05T08:40:55.020054+00:00","updated_at":"2026-07-05T08:40:55.020054+00:00"}