{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:663X3WAHJTP2OE5VJPOMJLKZOL","short_pith_number":"pith:663X3WAH","canonical_record":{"source":{"id":"2309.05655","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-11T17:49:25Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"377cf0ced2ea01783b3df40f36b8329d1025c1cbada68fc56d0e069b9d7ebc6c","abstract_canon_sha256":"acebd0e54709d7c3236019dc8a8b0cf1c891fe5afd1452f19de3e6f74b435d30"},"schema_version":"1.0"},"canonical_sha256":"f7b77dd8074cdfa713b54bdcc4ad5972d98ac328b2dfaeaa548265a2fb3611fe","source":{"kind":"arxiv","id":"2309.05655","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.05655","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"arxiv_version","alias_value":"2309.05655v1","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.05655","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_12","alias_value":"663X3WAHJTP2","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_16","alias_value":"663X3WAHJTP2OE5V","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_8","alias_value":"663X3WAH","created_at":"2026-07-05T06:49:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:663X3WAHJTP2OE5VJPOMJLKZOL","target":"record","payload":{"canonical_record":{"source":{"id":"2309.05655","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-11T17:49:25Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"377cf0ced2ea01783b3df40f36b8329d1025c1cbada68fc56d0e069b9d7ebc6c","abstract_canon_sha256":"acebd0e54709d7c3236019dc8a8b0cf1c891fe5afd1452f19de3e6f74b435d30"},"schema_version":"1.0"},"canonical_sha256":"f7b77dd8074cdfa713b54bdcc4ad5972d98ac328b2dfaeaa548265a2fb3611fe","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T06:49:38.185801Z","signature_b64":"lvzRB9Xwn2gLAAvJT6dDJ5p8OgtBeB9l6eyLjcMsxVlJhgK0EHgvLAX+svX1cRgVjfbhrwwxSMYFpttZlmKzBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"f7b77dd8074cdfa713b54bdcc4ad5972d98ac328b2dfaeaa548265a2fb3611fe","last_reissued_at":"2026-07-05T06:49:38.185409Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T06:49:38.185409Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.05655","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":"2026-07-05T06:49:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mc8RxGC5KTOzDe7HbAXAmduA6CHQxYn/e9GYHGPyuoZkKUmiXtR07v6rgLK9PLzGlRabAvNgFQzVfRM4La9NAg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:52:48.257466Z"},"content_sha256":"320d65af68919000c411068fda61b127acdbafb7d2e4b18aade7c202940658bb","schema_version":"1.0","event_id":"sha256:320d65af68919000c411068fda61b127acdbafb7d2e4b18aade7c202940658bb"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:663X3WAHJTP2OE5VJPOMJLKZOL","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dynamic Handover: Throw and Catch with Bimanual Hands","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Binghao Huang, Nikolay Atanasov, Tianyu Wang, Xiaolong Wang, Yaodong Yang, Yuanpei Chen, Yuzhe Qin","submitted_at":"2023-09-11T17:49:25Z","abstract_excerpt":"Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact with diverse objects. In this paper, we design a system with two multi-finger hands attached to robot arms to solve this problem. We train our system using Multi-Agent Reinforcement Learning in simulation and perform Sim2Real transfer to deploy on the real robots. To overcome the Sim2Real gap, we provide multiple novel algorithm designs including learning a tra"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.05655","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/2309.05655/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":"2026-07-05T06:49:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9s9jC4OqhM8MhdkFeckZwJs6UEeBHQ800vdSjjhp2qsQWLOC8vtgEw2jrDnVDWQLZ/qmIwChclkYq2wpHteiBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T09:52:48.257975Z"},"content_sha256":"66a187a8ca2b4c4c19c12d72c444f52ac75f77ecf67da9144c80cc0b8e373e98","schema_version":"1.0","event_id":"sha256:66a187a8ca2b4c4c19c12d72c444f52ac75f77ecf67da9144c80cc0b8e373e98"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/663X3WAHJTP2OE5VJPOMJLKZOL/bundle.json","state_url":"https://pith.science/pith/663X3WAHJTP2OE5VJPOMJLKZOL/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/663X3WAHJTP2OE5VJPOMJLKZOL/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":"2026-08-05T09:52:48Z","links":{"resolver":"https://pith.science/pith/663X3WAHJTP2OE5VJPOMJLKZOL","bundle":"https://pith.science/pith/663X3WAHJTP2OE5VJPOMJLKZOL/bundle.json","state":"https://pith.science/pith/663X3WAHJTP2OE5VJPOMJLKZOL/state.json","well_known_bundle":"https://pith.science/.well-known/pith/663X3WAHJTP2OE5VJPOMJLKZOL/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:663X3WAHJTP2OE5VJPOMJLKZOL","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":"acebd0e54709d7c3236019dc8a8b0cf1c891fe5afd1452f19de3e6f74b435d30","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-11T17:49:25Z","title_canon_sha256":"377cf0ced2ea01783b3df40f36b8329d1025c1cbada68fc56d0e069b9d7ebc6c"},"schema_version":"1.0","source":{"id":"2309.05655","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.05655","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"arxiv_version","alias_value":"2309.05655v1","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.05655","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_12","alias_value":"663X3WAHJTP2","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_16","alias_value":"663X3WAHJTP2OE5V","created_at":"2026-07-05T06:49:38Z"},{"alias_kind":"pith_short_8","alias_value":"663X3WAH","created_at":"2026-07-05T06:49:38Z"}],"graph_snapshots":[{"event_id":"sha256:66a187a8ca2b4c4c19c12d72c444f52ac75f77ecf67da9144c80cc0b8e373e98","target":"graph","created_at":"2026-07-05T06:49:38Z","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/2309.05655/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact with diverse objects. In this paper, we design a system with two multi-finger hands attached to robot arms to solve this problem. We train our system using Multi-Agent Reinforcement Learning in simulation and perform Sim2Real transfer to deploy on the real robots. To overcome the Sim2Real gap, we provide multiple novel algorithm designs including learning a tra","authors_text":"Binghao Huang, Nikolay Atanasov, Tianyu Wang, Xiaolong Wang, Yaodong Yang, Yuanpei Chen, Yuzhe Qin","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-11T17:49:25Z","title":"Dynamic Handover: Throw and Catch with Bimanual Hands"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.05655","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":"sha256:320d65af68919000c411068fda61b127acdbafb7d2e4b18aade7c202940658bb","target":"record","created_at":"2026-07-05T06:49:38Z","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":"acebd0e54709d7c3236019dc8a8b0cf1c891fe5afd1452f19de3e6f74b435d30","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-11T17:49:25Z","title_canon_sha256":"377cf0ced2ea01783b3df40f36b8329d1025c1cbada68fc56d0e069b9d7ebc6c"},"schema_version":"1.0","source":{"id":"2309.05655","kind":"arxiv","version":1}},"canonical_sha256":"f7b77dd8074cdfa713b54bdcc4ad5972d98ac328b2dfaeaa548265a2fb3611fe","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f7b77dd8074cdfa713b54bdcc4ad5972d98ac328b2dfaeaa548265a2fb3611fe","first_computed_at":"2026-07-05T06:49:38.185409Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:49:38.185409Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"lvzRB9Xwn2gLAAvJT6dDJ5p8OgtBeB9l6eyLjcMsxVlJhgK0EHgvLAX+svX1cRgVjfbhrwwxSMYFpttZlmKzBQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:49:38.185801Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.05655","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:320d65af68919000c411068fda61b127acdbafb7d2e4b18aade7c202940658bb","sha256:66a187a8ca2b4c4c19c12d72c444f52ac75f77ecf67da9144c80cc0b8e373e98"],"state_sha256":"08bc1dfa0578c42a500006fd8e3890e946c9829a138f1d642cc2ea07dcf2f274"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9oQ8VLgIcw3VyJk8Ulpc0VTXvFRj/xLEd14DDWThmRM3vSZSJX0O3v/MofjpWN0DhDriSAyOLh+1VHBusGmlAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T09:52:48.261795Z","bundle_sha256":"dde3029931c8aec1c30c6a28c39d33b71c30a9bede8dba8e823c347fb23783ce"}}