{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:6F5E4K6KXK474VPMHFR2VJFEJY","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":"4d7b91c90fd3b428627d72b2d207e87da5c0d6c61efd1f2163c46a27d8bda926","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T23:15:06Z","title_canon_sha256":"e2b183510055ff41a052d909d8124ed290fbf2f7214c3d4adbbb0223513ac5fe"},"schema_version":"1.0","source":{"id":"2412.01791","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2412.01791","created_at":"2026-07-05T10:08:25Z"},{"alias_kind":"arxiv_version","alias_value":"2412.01791v2","created_at":"2026-07-05T10:08:25Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2412.01791","created_at":"2026-07-05T10:08:25Z"},{"alias_kind":"pith_short_12","alias_value":"6F5E4K6KXK47","created_at":"2026-07-05T10:08:25Z"},{"alias_kind":"pith_short_16","alias_value":"6F5E4K6KXK474VPM","created_at":"2026-07-05T10:08:25Z"},{"alias_kind":"pith_short_8","alias_value":"6F5E4K6K","created_at":"2026-07-05T10:08:25Z"}],"graph_snapshots":[{"event_id":"sha256:13cdbcf8f7a08b2ea3070f7d366d01c6d5ec7cf5dc3bfc4d7d3a45048359c30f","target":"graph","created_at":"2026-07-05T10:08:25Z","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/2412.01791/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"One of the most important, yet challenging, skills for a dexterous robot is grasping a diverse range of objects. Much of the prior work has been limited by speed, generality, or reliance on depth maps and object poses. In this paper, we introduce DextrAH-RGB, a system that can perform dexterous arm-hand grasping end-to-end from RGB image input. We train a privileged fabric-guided policy (FGP) in simulation through reinforcement learning that acts on a geometric fabric controller to dexterously grasp a wide variety of objects. We then distill this privileged FGP into a RGB-based FGP strictly in","authors_text":"Ankur Handa, Arthur Allshire, Karl Van Wyk, Nathan Ratliff, Ritvik Singh","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T23:15:06Z","title":"DextrAH-RGB: Visuomotor Policies to Grasp Anything with Dexterous Hands"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2412.01791","kind":"arxiv","version":2},"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:d64de2fbef03893aa287d7e40770f53496118a495a2b356cef88a78ae24eb6ac","target":"record","created_at":"2026-07-05T10:08:25Z","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":"4d7b91c90fd3b428627d72b2d207e87da5c0d6c61efd1f2163c46a27d8bda926","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2024-11-27T23:15:06Z","title_canon_sha256":"e2b183510055ff41a052d909d8124ed290fbf2f7214c3d4adbbb0223513ac5fe"},"schema_version":"1.0","source":{"id":"2412.01791","kind":"arxiv","version":2}},"canonical_sha256":"f17a4e2bcabab9fe55ec3963aaa4a44e17ff87fb02c9f1a2bf46cd8c21184dea","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"f17a4e2bcabab9fe55ec3963aaa4a44e17ff87fb02c9f1a2bf46cd8c21184dea","first_computed_at":"2026-07-05T10:08:25.652261Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:08:25.652261Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"eCBcF+miQAD61Oo0idtxcyQnls2M0nTOg+ksDhj8b0TKzwWvgcQ0qovn1nuKgbv3kaknkp+dkdxC2pC6TqP7Dg==","signature_status":"signed_v1","signed_at":"2026-07-05T10:08:25.652775Z","signed_message":"canonical_sha256_bytes"},"source_id":"2412.01791","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d64de2fbef03893aa287d7e40770f53496118a495a2b356cef88a78ae24eb6ac","sha256:13cdbcf8f7a08b2ea3070f7d366d01c6d5ec7cf5dc3bfc4d7d3a45048359c30f"],"state_sha256":"bf2bb8d56d486e038875c2ac88340ff231771dfbc036c7b1e11d53159f75c073"}