{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2022:DKL6WPYHCNRAX7MOSK6AWNRZ3I","short_pith_number":"pith:DKL6WPYH","canonical_record":{"source":{"id":"2210.06463","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-12T17:59:02Z","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","cs.LG"],"title_canon_sha256":"fe9310ceda1cce8cbc2d4b1e04de52d27c14033f1d61c49112a8b3ce05f32dc4","abstract_canon_sha256":"a8837dc9a2ead7560d4e1213e71a3c02292f73479c441cecd4d79c96c988c451"},"schema_version":"1.0"},"canonical_sha256":"1a97eb3f0713620bfd8e92bc0b3639da1ba6d711512e50f61d9c3ca3bbb60b07","source":{"kind":"arxiv","id":"2210.06463","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.06463","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"arxiv_version","alias_value":"2210.06463v1","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.06463","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_12","alias_value":"DKL6WPYHCNRA","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_16","alias_value":"DKL6WPYHCNRAX7MO","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_8","alias_value":"DKL6WPYH","created_at":"2026-07-05T05:06:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2022:DKL6WPYHCNRAX7MOSK6AWNRZ3I","target":"record","payload":{"canonical_record":{"source":{"id":"2210.06463","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-12T17:59:02Z","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","cs.LG"],"title_canon_sha256":"fe9310ceda1cce8cbc2d4b1e04de52d27c14033f1d61c49112a8b3ce05f32dc4","abstract_canon_sha256":"a8837dc9a2ead7560d4e1213e71a3c02292f73479c441cecd4d79c96c988c451"},"schema_version":"1.0"},"canonical_sha256":"1a97eb3f0713620bfd8e92bc0b3639da1ba6d711512e50f61d9c3ca3bbb60b07","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:06:00.990369Z","signature_b64":"GA2E53TSX1cBqAZfcLhyo2FuNTolT63FUVQEvo1lDrTP8i/FIjuJzwV1ngKEUcNiePXqr69Q5075tJJ80PbtDQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"1a97eb3f0713620bfd8e92bc0b3639da1ba6d711512e50f61d9c3ca3bbb60b07","last_reissued_at":"2026-07-05T05:06:00.989883Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:06:00.989883Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2210.06463","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":"2026-07-05T05:06:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9tXgThHaYkhRUM3c267YGthvJuEoZ4X/VCU+K7NPitORbTWDx9Bjys8ezzKGlp1VtMw2q8yB3sAgkKwHTyjsCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T03:16:01.351911Z"},"content_sha256":"6716c5af493ad2b2d21ab195b6c406c242e5b09d72da86ebf734a64cd760f2aa","schema_version":"1.0","event_id":"sha256:6716c5af493ad2b2d21ab195b6c406c242e5b09d72da86ebf734a64cd760f2aa"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2022:DKL6WPYHCNRAX7MOSK6AWNRZ3I","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Holo-Dex: Teaching Dexterity with Immersive Mixed Reality","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI","cs.CV","cs.HC","cs.LG"],"primary_cat":"cs.RO","authors_text":"Irmak G\\\"uzey, Lerrel Pinto, Soumith Chintala, Sridhar Pandian Arunachalam","submitted_at":"2022-10-12T17:59:02Z","abstract_excerpt":"A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional, contact-rich behaviors often require esoteric teleoperation tools. In this work, we present Holo-Dex, a framework for dexterous manipulation that places a teacher in an immersive mixed reality through commodity VR headsets. The high-fidelity hand pose estimator onboard the headset is used to teleoperate the robot and collect demonstrations for a variety of general-pur"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.06463","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/2210.06463/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":"2026-07-05T05:06:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XuVIL+mA22v/GLwT71/3MXjo9OvgLf81fsyAlB0oioGdinONRkqDWpdpQr+bAFtNLmJhEVt19C878qPODxFpDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-05T03:16:01.352460Z"},"content_sha256":"92cf27f7942a6fa7b5a5b782e82c758c1a7cf57537e9469120613845fa31b937","schema_version":"1.0","event_id":"sha256:92cf27f7942a6fa7b5a5b782e82c758c1a7cf57537e9469120613845fa31b937"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/bundle.json","state_url":"https://pith.science/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/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":"2026-08-05T03:16:01Z","links":{"resolver":"https://pith.science/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I","bundle":"https://pith.science/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/bundle.json","state":"https://pith.science/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DKL6WPYHCNRAX7MOSK6AWNRZ3I/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:DKL6WPYHCNRAX7MOSK6AWNRZ3I","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":"a8837dc9a2ead7560d4e1213e71a3c02292f73479c441cecd4d79c96c988c451","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-12T17:59:02Z","title_canon_sha256":"fe9310ceda1cce8cbc2d4b1e04de52d27c14033f1d61c49112a8b3ce05f32dc4"},"schema_version":"1.0","source":{"id":"2210.06463","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2210.06463","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"arxiv_version","alias_value":"2210.06463v1","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2210.06463","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_12","alias_value":"DKL6WPYHCNRA","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_16","alias_value":"DKL6WPYHCNRAX7MO","created_at":"2026-07-05T05:06:00Z"},{"alias_kind":"pith_short_8","alias_value":"DKL6WPYH","created_at":"2026-07-05T05:06:00Z"}],"graph_snapshots":[{"event_id":"sha256:92cf27f7942a6fa7b5a5b782e82c758c1a7cf57537e9469120613845fa31b937","target":"graph","created_at":"2026-07-05T05:06:00Z","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/2210.06463/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"A fundamental challenge in teaching robots is to provide an effective interface for human teachers to demonstrate useful skills to a robot. This challenge is exacerbated in dexterous manipulation, where teaching high-dimensional, contact-rich behaviors often require esoteric teleoperation tools. In this work, we present Holo-Dex, a framework for dexterous manipulation that places a teacher in an immersive mixed reality through commodity VR headsets. The high-fidelity hand pose estimator onboard the headset is used to teleoperate the robot and collect demonstrations for a variety of general-pur","authors_text":"Irmak G\\\"uzey, Lerrel Pinto, Soumith Chintala, Sridhar Pandian Arunachalam","cross_cats":["cs.AI","cs.CV","cs.HC","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-12T17:59:02Z","title":"Holo-Dex: Teaching Dexterity with Immersive Mixed Reality"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2210.06463","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":"sha256:6716c5af493ad2b2d21ab195b6c406c242e5b09d72da86ebf734a64cd760f2aa","target":"record","created_at":"2026-07-05T05:06:00Z","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":"a8837dc9a2ead7560d4e1213e71a3c02292f73479c441cecd4d79c96c988c451","cross_cats_sorted":["cs.AI","cs.CV","cs.HC","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-10-12T17:59:02Z","title_canon_sha256":"fe9310ceda1cce8cbc2d4b1e04de52d27c14033f1d61c49112a8b3ce05f32dc4"},"schema_version":"1.0","source":{"id":"2210.06463","kind":"arxiv","version":1}},"canonical_sha256":"1a97eb3f0713620bfd8e92bc0b3639da1ba6d711512e50f61d9c3ca3bbb60b07","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"1a97eb3f0713620bfd8e92bc0b3639da1ba6d711512e50f61d9c3ca3bbb60b07","first_computed_at":"2026-07-05T05:06:00.989883Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T05:06:00.989883Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GA2E53TSX1cBqAZfcLhyo2FuNTolT63FUVQEvo1lDrTP8i/FIjuJzwV1ngKEUcNiePXqr69Q5075tJJ80PbtDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T05:06:00.990369Z","signed_message":"canonical_sha256_bytes"},"source_id":"2210.06463","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6716c5af493ad2b2d21ab195b6c406c242e5b09d72da86ebf734a64cd760f2aa","sha256:92cf27f7942a6fa7b5a5b782e82c758c1a7cf57537e9469120613845fa31b937"],"state_sha256":"43dbfc5e8800885033101e49c7a3a62d54541c6016628210c7310fc7f60e8456"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"9uDHTLNU+S5ePmqIkPxVsTWTfqDwb06TrQr3UADPSkpw/EGrXhHcm3xs+yd6UNXqitnwmt4/EQRr9+K9/z31Ag==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-05T03:16:01.357572Z","bundle_sha256":"77ded5d0167b8a6d17a5a93026f40a0dd4fdefda3a6545a29894bc811d83d21d"}}