{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:EHWMKHQAHBZ3CL2D5FPFTJNOQI","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":"51b8b84e5d81f354591671076ce1b3f4d02ee5706819e40f5419f274c0e46cc1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-16T06:13:14Z","title_canon_sha256":"3a663c37d9f661bfcf8722b7b9bb81378991c763200846cf3e695634c1482572"},"schema_version":"1.0","source":{"id":"2608.15560","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2608.15560","created_at":"2026-08-18T01:15:43Z"},{"alias_kind":"arxiv_version","alias_value":"2608.15560v1","created_at":"2026-08-18T01:15:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2608.15560","created_at":"2026-08-18T01:15:43Z"},{"alias_kind":"pith_short_12","alias_value":"EHWMKHQAHBZ3","created_at":"2026-08-18T01:15:43Z"},{"alias_kind":"pith_short_16","alias_value":"EHWMKHQAHBZ3CL2D","created_at":"2026-08-18T01:15:43Z"},{"alias_kind":"pith_short_8","alias_value":"EHWMKHQA","created_at":"2026-08-18T01:15:43Z"}],"graph_snapshots":[{"event_id":"sha256:2e2e910978f39923f49d605bbb313c664e8cac0bf8c25cca4e0b7418696cf8a7","target":"graph","created_at":"2026-08-18T01:15:43Z","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/2608.15560/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Human demonstrations offer a scalable data source for dexterous manipulation, but transferring them to robot actions remains challenging due to the embodiment gap. Today's retargeting is mostly kinematic, yet manipulation is decided by force, which governs how the hand interacts with the object and how the object moves. In this paper, we present ReForce, a Force-aware Retargeting method that turns human motion and forces into robot actions that reproduce the intended contact. ReForce predicts a residual on the kinematically retargeted action to reach the desired force, using a general force tr","authors_text":"Changwei Jing, Jianglong Ye, Lingqi Zeng, Xiaolong Wang, Yuhang Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-16T06:13:14Z","title":"ReForce: Learning Force-aware Retargeting for Dexterous Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.15560","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":"sha256:8b0619f764f62930853a0b0ced68b51b585b96ff77695b7d40feeaf072e5882c","target":"record","created_at":"2026-08-18T01:15:43Z","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":"51b8b84e5d81f354591671076ce1b3f4d02ee5706819e40f5419f274c0e46cc1","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-08-16T06:13:14Z","title_canon_sha256":"3a663c37d9f661bfcf8722b7b9bb81378991c763200846cf3e695634c1482572"},"schema_version":"1.0","source":{"id":"2608.15560","kind":"arxiv","version":1}},"canonical_sha256":"21ecc51e003873b12f43e95e59a5ae823a5043d498426992dba04bdc6f17e9b5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"21ecc51e003873b12f43e95e59a5ae823a5043d498426992dba04bdc6f17e9b5","first_computed_at":"2026-08-18T01:15:43.927581Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-08-18T01:15:43.927581Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"0UJ7OhIfs+R+8z5tpWIHqAY8JIt0aNUxtIca+45HEnjzfiXDsmSDFIrkUCivuZ+BS37MXIxUHISIau2LpJB8Bg==","signature_status":"signed_v1","signed_at":"2026-08-18T01:15:43.929115Z","signed_message":"canonical_sha256_bytes"},"source_id":"2608.15560","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8b0619f764f62930853a0b0ced68b51b585b96ff77695b7d40feeaf072e5882c","sha256:2e2e910978f39923f49d605bbb313c664e8cac0bf8c25cca4e0b7418696cf8a7"],"state_sha256":"74efcc088ce5776c439c90b86def1422b572ceb4b295b77bf23ca7a982108280"}