{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:3IASP6BWF4IQM4V4AZMZWRAAH5","short_pith_number":"pith:3IASP6BW","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"},"canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","source":{"kind":"arxiv","id":"2309.06955","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.06955","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"arxiv_version","alias_value":"2309.06955v3","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.06955","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_12","alias_value":"3IASP6BWF4IQ","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_16","alias_value":"3IASP6BWF4IQM4V4","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_8","alias_value":"3IASP6BW","created_at":"2026-07-05T08:40:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:3IASP6BWF4IQM4V4AZMZWRAAH5","target":"record","payload":{"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"},"canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","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"},"source_kind":"arxiv","source_id":"2309.06955","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:40:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"jCrTU4KVY6MbVphcgw2FEQlinirW1NvscAhznjS8f3BT1G+PdvgBbHtCgtBzGKMv5lSKcUSJz13xwiX3DrfBCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T20:56:03.449742Z"},"content_sha256":"22d632fc1daf840327480cbf9cfd85293fd2097f55e948a0364e2c8165a08dad","schema_version":"1.0","event_id":"sha256:22d632fc1daf840327480cbf9cfd85293fd2097f55e948a0364e2c8165a08dad"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:3IASP6BWF4IQM4V4AZMZWRAAH5","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:40:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"N5ZHv7SgUYKj3cQjMIPU6c8ZGnERN71MGak894TiWeE1jHPBaWrGQaqNNe1TvuluOgUb9DFiifzrYVAmlPPVBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-23T20:56:03.450348Z"},"content_sha256":"e41b62f5b6e7e2a529f5d4852788f97e9753a24c94181ee791193d97ed44bd04","schema_version":"1.0","event_id":"sha256:e41b62f5b6e7e2a529f5d4852788f97e9753a24c94181ee791193d97ed44bd04"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/bundle.json","state_url":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/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":"2026-08-23T20:56:03Z","links":{"resolver":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5","bundle":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/bundle.json","state":"https://pith.science/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/state.json","well_known_bundle":"https://pith.science/.well-known/pith/3IASP6BWF4IQM4V4AZMZWRAAH5/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:3IASP6BWF4IQM4V4AZMZWRAAH5","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":"2a455de1ea589985cc89b05883f588c6de95a6afba9c1a0ece10af48ac684998","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T13:41:34Z","title_canon_sha256":"331097a935866f5b8184cd5a763cfba9bfd248e9b9f6279b7b22d7ab7f51c208"},"schema_version":"1.0","source":{"id":"2309.06955","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.06955","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"arxiv_version","alias_value":"2309.06955v3","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.06955","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_12","alias_value":"3IASP6BWF4IQ","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_16","alias_value":"3IASP6BWF4IQM4V4","created_at":"2026-07-05T08:40:55Z"},{"alias_kind":"pith_short_8","alias_value":"3IASP6BW","created_at":"2026-07-05T08:40:55Z"}],"graph_snapshots":[{"event_id":"sha256:e41b62f5b6e7e2a529f5d4852788f97e9753a24c94181ee791193d97ed44bd04","target":"graph","created_at":"2026-07-05T08:40:55Z","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/2309.06955/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"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","authors_text":"Aude Billard, Farshad Khadivar, Kunpeng Yao, Xiao Gao","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T13:41:34Z","title":"Enhancing Dexterity in Confined Spaces: Real-Time Motion Planning for Multi-Fingered In-Hand Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.06955","kind":"arxiv","version":3},"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":"sha256:22d632fc1daf840327480cbf9cfd85293fd2097f55e948a0364e2c8165a08dad","target":"record","created_at":"2026-07-05T08:40:55Z","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":"2a455de1ea589985cc89b05883f588c6de95a6afba9c1a0ece10af48ac684998","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-13T13:41:34Z","title_canon_sha256":"331097a935866f5b8184cd5a763cfba9bfd248e9b9f6279b7b22d7ab7f51c208"},"schema_version":"1.0","source":{"id":"2309.06955","kind":"arxiv","version":3}},"canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"da0127f8362f110672bc06599b44003f41426a1ab354b7ffdc9dfb5d67b33d65","first_computed_at":"2026-07-05T08:40:55.019998Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:40:55.019998Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/owH/DJQ84TMYQ9QF5COHBPD+FVm2OkbJWWa6gUouwRZXts2wvuOevm9JMImgjG3obLvuZSe4Ixz3Sf6FpLhBg==","signature_status":"signed_v1","signed_at":"2026-07-05T08:40:55.020429Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.06955","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:22d632fc1daf840327480cbf9cfd85293fd2097f55e948a0364e2c8165a08dad","sha256:e41b62f5b6e7e2a529f5d4852788f97e9753a24c94181ee791193d97ed44bd04"],"state_sha256":"a5d764b50c03f62b8777378cb680de2ca8fe5abab00d5552438733e3de721de9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"lYMLS4lK0qNDZ341O/flSUoxRP2bq9ZF1FFAHjZXjQnNcgBIwkU4V6A8IbNwuHtTIg8Xy02Hsd8yZwuiMnE2DA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-23T20:56:03.455005Z","bundle_sha256":"42c64449204ba0680ad9232fdae18198710bca7f5e241b321eda0b3042333b2c"}}