{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:F7E64ELOGV57SWIC46WVW5RHY3","short_pith_number":"pith:F7E64ELO","schema_version":"1.0","canonical_sha256":"2fc9ee116e357bf95902e7ad5b7627c6c51600eebd94dd9fc997bfe1bddf0c09","source":{"kind":"arxiv","id":"2606.02432","version":1},"attestation_state":"computed","paper":{"title":"NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haoxuan Qu, Hossein Rahmani, Jun Liu, Qiuchi Xiang","submitted_at":"2026-06-01T16:06:14Z","abstract_excerpt":"Task-oriented dexterous grasp generation aims to produce dexterous grasp poses that are both physically plausible and functionally suitable for specified manipulation tasks. Existing diffusion-based methods often address these two requirements in a decoupled manner: they first train a grasp diffusion model for task alignment and then rely on post-generation refinement to improve physical plausibility. However, this after-the-fact correction strategy applies physical plausibility guidance only once the grasp has already been generated, leaving the generation trajectory itself unguided by physic"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.02432","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-06-01T16:06:14Z","cross_cats_sorted":[],"title_canon_sha256":"cc13caef99dd40357cb5e03cb0de2397efbedbc164ec102dc8795b7f48740fe3","abstract_canon_sha256":"f3d023ceeee8ffb2dc26b795de0078221d6bade105d2bd3e274ae2e70657d51e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-02T03:04:59.164308Z","signature_b64":"fK+jWFUyUYWT7PfHuO26PGryahprUZE+DAbQLx/2Ji41DdsfCDKFYXpq4akem/LVHH4wT2FQve6p9z3GxYlhCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2fc9ee116e357bf95902e7ad5b7627c6c51600eebd94dd9fc997bfe1bddf0c09","last_reissued_at":"2026-06-02T03:04:59.163907Z","signature_status":"signed_v1","first_computed_at":"2026-06-02T03:04:59.163907Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"NDPP-Grasp: Non-Differentiable Physical Plausibility Constraint-Guided Task-Oriented Dexterous Grasp Generation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Haoxuan Qu, Hossein Rahmani, Jun Liu, Qiuchi Xiang","submitted_at":"2026-06-01T16:06:14Z","abstract_excerpt":"Task-oriented dexterous grasp generation aims to produce dexterous grasp poses that are both physically plausible and functionally suitable for specified manipulation tasks. Existing diffusion-based methods often address these two requirements in a decoupled manner: they first train a grasp diffusion model for task alignment and then rely on post-generation refinement to improve physical plausibility. However, this after-the-fact correction strategy applies physical plausibility guidance only once the grasp has already been generated, leaving the generation trajectory itself unguided by physic"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.02432","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/2606.02432/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.02432","created_at":"2026-06-02T03:04:59.163968+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.02432v1","created_at":"2026-06-02T03:04:59.163968+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.02432","created_at":"2026-06-02T03:04:59.163968+00:00"},{"alias_kind":"pith_short_12","alias_value":"F7E64ELOGV57","created_at":"2026-06-02T03:04:59.163968+00:00"},{"alias_kind":"pith_short_16","alias_value":"F7E64ELOGV57SWIC","created_at":"2026-06-02T03:04:59.163968+00:00"},{"alias_kind":"pith_short_8","alias_value":"F7E64ELO","created_at":"2026-06-02T03:04:59.163968+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3","json":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3.json","graph_json":"https://pith.science/api/pith-number/F7E64ELOGV57SWIC46WVW5RHY3/graph.json","events_json":"https://pith.science/api/pith-number/F7E64ELOGV57SWIC46WVW5RHY3/events.json","paper":"https://pith.science/paper/F7E64ELO"},"agent_actions":{"view_html":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3","download_json":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3.json","view_paper":"https://pith.science/paper/F7E64ELO","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.02432&json=true","fetch_graph":"https://pith.science/api/pith-number/F7E64ELOGV57SWIC46WVW5RHY3/graph.json","fetch_events":"https://pith.science/api/pith-number/F7E64ELOGV57SWIC46WVW5RHY3/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3/action/timestamp_anchor","attest_storage":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3/action/storage_attestation","attest_author":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3/action/author_attestation","sign_citation":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3/action/citation_signature","submit_replication":"https://pith.science/pith/F7E64ELOGV57SWIC46WVW5RHY3/action/replication_record"}},"created_at":"2026-06-02T03:04:59.163968+00:00","updated_at":"2026-06-02T03:04:59.163968+00:00"}