{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:E4FA4CVZKICPX3XZC67SH43HPB","short_pith_number":"pith:E4FA4CVZ","canonical_record":{"source":{"id":"2108.09779","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-22T16:45:58Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"e4366a7b9ef35dedf226f22ecc0771bd1e82c1acb42093b6158eb35031673875","abstract_canon_sha256":"6868c52455a469e4c0ba1d4ce00dc65c3581a9970cbef48165844854073d0ceb"},"schema_version":"1.0"},"canonical_sha256":"270a0e0ab95204fbeef917bf23f3677844fa7e20776f72cbeba25ad1093c4e49","source":{"kind":"arxiv","id":"2108.09779","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.09779","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"arxiv_version","alias_value":"2108.09779v2","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.09779","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_12","alias_value":"E4FA4CVZKICP","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_16","alias_value":"E4FA4CVZKICPX3XZ","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_8","alias_value":"E4FA4CVZ","created_at":"2026-07-05T07:53:05Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:E4FA4CVZKICPX3XZC67SH43HPB","target":"record","payload":{"canonical_record":{"source":{"id":"2108.09779","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-22T16:45:58Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"e4366a7b9ef35dedf226f22ecc0771bd1e82c1acb42093b6158eb35031673875","abstract_canon_sha256":"6868c52455a469e4c0ba1d4ce00dc65c3581a9970cbef48165844854073d0ceb"},"schema_version":"1.0"},"canonical_sha256":"270a0e0ab95204fbeef917bf23f3677844fa7e20776f72cbeba25ad1093c4e49","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:53:05.296847Z","signature_b64":"mCXdKOEIG/+MWZ+hL94q58UBivS1SAMg73vq9CAYOW0RyOzkB5GIptJ+mQ1IzM59wt+zVo30jZkrwkDq4B0ZCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"270a0e0ab95204fbeef917bf23f3677844fa7e20776f72cbeba25ad1093c4e49","last_reissued_at":"2026-07-05T07:53:05.296343Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:53:05.296343Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2108.09779","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:53:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"j2tR6Q2WpHQvxOeyRASr335RIb1fiiI5LKHVaJSwnJXZ8kZQED8+3YMePK9CTdtufjSu0kuMqsob0pRG6aR0Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:31:12.423826Z"},"content_sha256":"c6a5bc27a0ecc2deffc560dc4c22c9dc82abc268edd14c19900f304d2cd69c23","schema_version":"1.0","event_id":"sha256:c6a5bc27a0ecc2deffc560dc4c22c9dc82abc268edd14c19900f304d2cd69c23"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:E4FA4CVZKICPX3XZC67SH43HPB","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Animesh Garg, Ankur Handa, Arthur Allshire, Denys Makoviichuk, Felix Widmaier, Manuel W\\\"uthrich, Mayank Mittal, Stefan Bauer, Varun Lodaya, Viktor Makoviychuk","submitted_at":"2021-08-22T16:45:58Z","abstract_excerpt":"We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator. We show empirical benefits, both in simulation and sim-to-real transfer, of using keypoints as opposed to position+quaternion representations for the object pose in 6-DoF for policy observations and in reward calculation to train a model-free reinforcement learning agent. By utilizing domain randomization strategies along with the keypoint representation of the pose of the manipulated object, we achieve a hig"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.09779","kind":"arxiv","version":2},"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/2108.09779/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":"2026-07-05T07:53:05Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"5Qfv2NrSJC9C2iPRcWIvRA1pauc1yQVWNLwWUIS68kH/czE6ciMOUIvafmVvVPz/4orMsLEpmKeFGRAWOpupCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T05:31:12.424212Z"},"content_sha256":"76d6b12d4e7cf299b8cfcdf37155ad337c800b30dc5026737cd7eb683dc92f90","schema_version":"1.0","event_id":"sha256:76d6b12d4e7cf299b8cfcdf37155ad337c800b30dc5026737cd7eb683dc92f90"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/E4FA4CVZKICPX3XZC67SH43HPB/bundle.json","state_url":"https://pith.science/pith/E4FA4CVZKICPX3XZC67SH43HPB/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/E4FA4CVZKICPX3XZC67SH43HPB/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":"2026-07-07T05:31:12Z","links":{"resolver":"https://pith.science/pith/E4FA4CVZKICPX3XZC67SH43HPB","bundle":"https://pith.science/pith/E4FA4CVZKICPX3XZC67SH43HPB/bundle.json","state":"https://pith.science/pith/E4FA4CVZKICPX3XZC67SH43HPB/state.json","well_known_bundle":"https://pith.science/.well-known/pith/E4FA4CVZKICPX3XZC67SH43HPB/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:E4FA4CVZKICPX3XZC67SH43HPB","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":"6868c52455a469e4c0ba1d4ce00dc65c3581a9970cbef48165844854073d0ceb","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-22T16:45:58Z","title_canon_sha256":"e4366a7b9ef35dedf226f22ecc0771bd1e82c1acb42093b6158eb35031673875"},"schema_version":"1.0","source":{"id":"2108.09779","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2108.09779","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"arxiv_version","alias_value":"2108.09779v2","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2108.09779","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_12","alias_value":"E4FA4CVZKICP","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_16","alias_value":"E4FA4CVZKICPX3XZ","created_at":"2026-07-05T07:53:05Z"},{"alias_kind":"pith_short_8","alias_value":"E4FA4CVZ","created_at":"2026-07-05T07:53:05Z"}],"graph_snapshots":[{"event_id":"sha256:76d6b12d4e7cf299b8cfcdf37155ad337c800b30dc5026737cd7eb683dc92f90","target":"graph","created_at":"2026-07-05T07:53:05Z","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/2108.09779/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present a system for learning a challenging dexterous manipulation task involving moving a cube to an arbitrary 6-DoF pose with only 3-fingers trained with NVIDIA's IsaacGym simulator. We show empirical benefits, both in simulation and sim-to-real transfer, of using keypoints as opposed to position+quaternion representations for the object pose in 6-DoF for policy observations and in reward calculation to train a model-free reinforcement learning agent. By utilizing domain randomization strategies along with the keypoint representation of the pose of the manipulated object, we achieve a hig","authors_text":"Animesh Garg, Ankur Handa, Arthur Allshire, Denys Makoviichuk, Felix Widmaier, Manuel W\\\"uthrich, Mayank Mittal, Stefan Bauer, Varun Lodaya, Viktor Makoviychuk","cross_cats":["cs.LG"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-22T16:45:58Z","title":"Transferring Dexterous Manipulation from GPU Simulation to a Remote Real-World TriFinger"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2108.09779","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:c6a5bc27a0ecc2deffc560dc4c22c9dc82abc268edd14c19900f304d2cd69c23","target":"record","created_at":"2026-07-05T07:53:05Z","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":"6868c52455a469e4c0ba1d4ce00dc65c3581a9970cbef48165844854073d0ceb","cross_cats_sorted":["cs.LG"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-08-22T16:45:58Z","title_canon_sha256":"e4366a7b9ef35dedf226f22ecc0771bd1e82c1acb42093b6158eb35031673875"},"schema_version":"1.0","source":{"id":"2108.09779","kind":"arxiv","version":2}},"canonical_sha256":"270a0e0ab95204fbeef917bf23f3677844fa7e20776f72cbeba25ad1093c4e49","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"270a0e0ab95204fbeef917bf23f3677844fa7e20776f72cbeba25ad1093c4e49","first_computed_at":"2026-07-05T07:53:05.296343Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:53:05.296343Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"mCXdKOEIG/+MWZ+hL94q58UBivS1SAMg73vq9CAYOW0RyOzkB5GIptJ+mQ1IzM59wt+zVo30jZkrwkDq4B0ZCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:53:05.296847Z","signed_message":"canonical_sha256_bytes"},"source_id":"2108.09779","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:c6a5bc27a0ecc2deffc560dc4c22c9dc82abc268edd14c19900f304d2cd69c23","sha256:76d6b12d4e7cf299b8cfcdf37155ad337c800b30dc5026737cd7eb683dc92f90"],"state_sha256":"d78712500b03391250cd4dbc59fb3327493fea036058514a9491ef9d63e67b29"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"0NEhEXZ3a80azYtq4mVOtwOZ6Dchahq5vvmT4677NftK9sN3uWexhUbccc14yk2as09cX0AGR3z5YPHQx9KcCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T05:31:12.426737Z","bundle_sha256":"4ab0f3408f53ba140e616ba7b55b9262108ef2714a8b1ab3a3ca3cd58af58920"}}