{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:FAHJHGQA3FG6B2OCM4YQ4JIZ2V","short_pith_number":"pith:FAHJHGQA","canonical_record":{"source":{"id":"2603.09882","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T16:40:30Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"4f6ccc32a6429ee0fdeb14350f1cd8c197f6fd088c6ebdf117ada864f36581a1","abstract_canon_sha256":"cc26b09649beca1dd0c45dd40e047e30f5baad018814eb10537924cede15f863"},"schema_version":"1.0"},"canonical_sha256":"280e939a00d94de0e9c267310e2519d5737f114210ea4daff048bc146191577e","source":{"kind":"arxiv","id":"2603.09882","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.09882","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"arxiv_version","alias_value":"2603.09882v2","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.09882","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_12","alias_value":"FAHJHGQA3FG6","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_16","alias_value":"FAHJHGQA3FG6B2OC","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_8","alias_value":"FAHJHGQA","created_at":"2026-05-28T01:04:38Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:FAHJHGQA3FG6B2OCM4YQ4JIZ2V","target":"record","payload":{"canonical_record":{"source":{"id":"2603.09882","kind":"arxiv","version":2},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T16:40:30Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"4f6ccc32a6429ee0fdeb14350f1cd8c197f6fd088c6ebdf117ada864f36581a1","abstract_canon_sha256":"cc26b09649beca1dd0c45dd40e047e30f5baad018814eb10537924cede15f863"},"schema_version":"1.0"},"canonical_sha256":"280e939a00d94de0e9c267310e2519d5737f114210ea4daff048bc146191577e","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-28T01:04:38.223371Z","signature_b64":"s6E0dlDbQzYqBRS7kVnwZfzLoHGxQX3TomG1c7vy9EPw/HcwOlfWyQtn3GEre7qiS49a2pGucXc61PCDzZwuBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"280e939a00d94de0e9c267310e2519d5737f114210ea4daff048bc146191577e","last_reissued_at":"2026-05-28T01:04:38.222789Z","signature_status":"signed_v1","first_computed_at":"2026-05-28T01:04:38.222789Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2603.09882","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":"2026-05-28T01:04:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fbXkrRHCq9WVgZX/6N1BJ99hOTOT85OM4XBqdFq5RA+AmqeDHZqJlUcxG98I7nMqQVh3fZeDxPNfPnm7ZzmUDQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T04:08:19.792406Z"},"content_sha256":"06d5fc4303cd9b878b546f6c06e267b30c6364449db0bc3774ac281057a3fd87","schema_version":"1.0","event_id":"sha256:06d5fc4303cd9b878b546f6c06e267b30c6364449db0bc3774ac281057a3fd87"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:FAHJHGQA3FG6B2OCM4YQ4JIZ2V","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"He Wang, Jiangran Lyu, Jiayi Chen, Mi Yan, Xiaoguang Zhao, Xuesong Shi, Yifan Zhang, Yixin Zheng, Yizhou Wang, Yuntian Deng, Zhizheng Zhang","submitted_at":"2026-03-10T16:40:30Z","abstract_excerpt":"Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting contact among multiple interacting objects with inherently coupled dynamics. Existing approaches lack explicit modeling of such complex dynamics and therefore fall short in non-prehensile manipulation in cluttered environments, which in turn limits their practical applicability in real-world environments. In this paper, we introduce a Dynamics-Aware Policy Le"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.09882","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/2603.09882/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":"2026-05-28T01:04:38Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TbgwXu3mL/uXFBMjtyAi3nZYfC+S7hCBakVjdTsEbEnHUgr+p1uoMLyLCBLZhwo4mk1D7L7GniBEmHYFRXKVAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-02T04:08:19.792815Z"},"content_sha256":"cd8389b913a4b8178e3e85d981fb096b8c57ab4f311447eb98aec8763bca086a","schema_version":"1.0","event_id":"sha256:cd8389b913a4b8178e3e85d981fb096b8c57ab4f311447eb98aec8763bca086a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/bundle.json","state_url":"https://pith.science/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/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":"2026-06-02T04:08:19Z","links":{"resolver":"https://pith.science/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V","bundle":"https://pith.science/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/bundle.json","state":"https://pith.science/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/state.json","well_known_bundle":"https://pith.science/.well-known/pith/FAHJHGQA3FG6B2OCM4YQ4JIZ2V/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:FAHJHGQA3FG6B2OCM4YQ4JIZ2V","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":"cc26b09649beca1dd0c45dd40e047e30f5baad018814eb10537924cede15f863","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T16:40:30Z","title_canon_sha256":"4f6ccc32a6429ee0fdeb14350f1cd8c197f6fd088c6ebdf117ada864f36581a1"},"schema_version":"1.0","source":{"id":"2603.09882","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2603.09882","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"arxiv_version","alias_value":"2603.09882v2","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2603.09882","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_12","alias_value":"FAHJHGQA3FG6","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_16","alias_value":"FAHJHGQA3FG6B2OC","created_at":"2026-05-28T01:04:38Z"},{"alias_kind":"pith_short_8","alias_value":"FAHJHGQA","created_at":"2026-05-28T01:04:38Z"}],"graph_snapshots":[{"event_id":"sha256:cd8389b913a4b8178e3e85d981fb096b8c57ab4f311447eb98aec8763bca086a","target":"graph","created_at":"2026-05-28T01:04:38Z","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/2603.09882/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Extrinsic dexterity leverages environmental contact to overcome the limitations of prehensile manipulation. However, achieving such dexterity in cluttered scenes remains challenging and underexplored, as it requires selectively exploiting contact among multiple interacting objects with inherently coupled dynamics. Existing approaches lack explicit modeling of such complex dynamics and therefore fall short in non-prehensile manipulation in cluttered environments, which in turn limits their practical applicability in real-world environments. In this paper, we introduce a Dynamics-Aware Policy Le","authors_text":"He Wang, Jiangran Lyu, Jiayi Chen, Mi Yan, Xiaoguang Zhao, Xuesong Shi, Yifan Zhang, Yixin Zheng, Yizhou Wang, Yuntian Deng, Zhizheng Zhang","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T16:40:30Z","title":"Emerging Extrinsic Dexterity in Cluttered Scenes via Dynamics-aware Policy Learning"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2603.09882","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":"sha256:06d5fc4303cd9b878b546f6c06e267b30c6364449db0bc3774ac281057a3fd87","target":"record","created_at":"2026-05-28T01:04:38Z","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":"cc26b09649beca1dd0c45dd40e047e30f5baad018814eb10537924cede15f863","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2026-03-10T16:40:30Z","title_canon_sha256":"4f6ccc32a6429ee0fdeb14350f1cd8c197f6fd088c6ebdf117ada864f36581a1"},"schema_version":"1.0","source":{"id":"2603.09882","kind":"arxiv","version":2}},"canonical_sha256":"280e939a00d94de0e9c267310e2519d5737f114210ea4daff048bc146191577e","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"280e939a00d94de0e9c267310e2519d5737f114210ea4daff048bc146191577e","first_computed_at":"2026-05-28T01:04:38.222789Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-28T01:04:38.222789Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"s6E0dlDbQzYqBRS7kVnwZfzLoHGxQX3TomG1c7vy9EPw/HcwOlfWyQtn3GEre7qiS49a2pGucXc61PCDzZwuBA==","signature_status":"signed_v1","signed_at":"2026-05-28T01:04:38.223371Z","signed_message":"canonical_sha256_bytes"},"source_id":"2603.09882","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:06d5fc4303cd9b878b546f6c06e267b30c6364449db0bc3774ac281057a3fd87","sha256:cd8389b913a4b8178e3e85d981fb096b8c57ab4f311447eb98aec8763bca086a"],"state_sha256":"f9b6ec788c52bab53c4ddc2b06ede7aa2c2df610ce4a0d4adbb7a544525e6ce6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NJUjjLJcEtus3C9pXLBQi558XUYNzDcDTAy2JnzrL2avbq2fbLSUXXheGVCk6ovwbP6YqKoV3YnfNgzxU3eXBA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-02T04:08:19.794898Z","bundle_sha256":"91e0179881ba1aba90c5c277a2c5474e0db9ea2130d3115478e8bcdf8c4d5b0b"}}