{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:HBS4KC2PMVPMCM6EWVG3Z7G2OH","short_pith_number":"pith:HBS4KC2P","canonical_record":{"source":{"id":"2504.03500","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-04T14:55:46Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"90652e4a2f1616a7a565356819b99d65441ec4d8bf15c6163d5112472be6f6a5","abstract_canon_sha256":"3710d7a609412ed05b1831adfe8609903d001d0a7bfe4e8fa9ae2679ed22995a"},"schema_version":"1.0"},"canonical_sha256":"3865c50b4f655ec133c4b54dbcfcda71e5b3f9542289a3c7655b78083bded2e1","source":{"kind":"arxiv","id":"2504.03500","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.03500","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"arxiv_version","alias_value":"2504.03500v1","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.03500","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_12","alias_value":"HBS4KC2PMVPM","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_16","alias_value":"HBS4KC2PMVPMCM6E","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_8","alias_value":"HBS4KC2P","created_at":"2026-07-05T10:44:33Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:HBS4KC2PMVPMCM6EWVG3Z7G2OH","target":"record","payload":{"canonical_record":{"source":{"id":"2504.03500","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-04T14:55:46Z","cross_cats_sorted":["cs.LG"],"title_canon_sha256":"90652e4a2f1616a7a565356819b99d65441ec4d8bf15c6163d5112472be6f6a5","abstract_canon_sha256":"3710d7a609412ed05b1831adfe8609903d001d0a7bfe4e8fa9ae2679ed22995a"},"schema_version":"1.0"},"canonical_sha256":"3865c50b4f655ec133c4b54dbcfcda71e5b3f9542289a3c7655b78083bded2e1","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:44:33.045169Z","signature_b64":"VQqGwkfajkCpuJeQMhsA/ym8ruogjOmHgnGbDe2EcIaf+HyOtRV2GW02+sIWPGY4ks3RUTGK+kmqmzN5+6HpBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3865c50b4f655ec133c4b54dbcfcda71e5b3f9542289a3c7655b78083bded2e1","last_reissued_at":"2026-07-05T10:44:33.044750Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:44:33.044750Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.03500","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":"2026-07-05T10:44:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"dDFcUrcHsT8RLZ5+SrQnFwZaAY50gsIcxcZ3sEdadgxQX94wgSf7BCmCJVc6eQlDXMe1M0f42t+UObMCzfYBBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:36:24.798528Z"},"content_sha256":"7ebb707e1df563a791fed55196e79a922b88231ad2e7dd7d57ada8b61a4d326c","schema_version":"1.0","event_id":"sha256:7ebb707e1df563a791fed55196e79a922b88231ad2e7dd7d57ada8b61a4d326c"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:HBS4KC2PMVPMCM6EWVG3Z7G2OH","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Learning Dual-Arm Coordination for Grasping Large Flat Objects","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.RO","authors_text":"Hamidreza Kasaei, Yongliang Wang","submitted_at":"2025-04-04T14:55:46Z","abstract_excerpt":"Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a surface to facilitate grasping. In contrast, dual-arm manipulation, inspired by human dexterity, offers a more refined solution by directly coordinating both arms to lift and grasp the object without the need for complex repositioning. In this paper, we propose a model-free deep reinforcement learning (DRL) framework to enable dual-arm coordination for grasping"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.03500","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/2504.03500/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":"2026-07-05T10:44:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4cPCTGNdZyZznW8Go8KKbtOdmIBmMxiFp37U+dSqd1iAj8umVcImaxLY4/r2y6fIxc8PBcxNOxNLbTmD4K9cBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T08:36:24.798903Z"},"content_sha256":"192b4e5acb28528db1aacdccc9868ecddb380b8f3e982dbc2989c9b258aa99ef","schema_version":"1.0","event_id":"sha256:192b4e5acb28528db1aacdccc9868ecddb380b8f3e982dbc2989c9b258aa99ef"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/bundle.json","state_url":"https://pith.science/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/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":"2026-07-07T08:36:24Z","links":{"resolver":"https://pith.science/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH","bundle":"https://pith.science/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/bundle.json","state":"https://pith.science/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HBS4KC2PMVPMCM6EWVG3Z7G2OH/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:HBS4KC2PMVPMCM6EWVG3Z7G2OH","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":"3710d7a609412ed05b1831adfe8609903d001d0a7bfe4e8fa9ae2679ed22995a","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-04T14:55:46Z","title_canon_sha256":"90652e4a2f1616a7a565356819b99d65441ec4d8bf15c6163d5112472be6f6a5"},"schema_version":"1.0","source":{"id":"2504.03500","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.03500","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"arxiv_version","alias_value":"2504.03500v1","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.03500","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_12","alias_value":"HBS4KC2PMVPM","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_16","alias_value":"HBS4KC2PMVPMCM6E","created_at":"2026-07-05T10:44:33Z"},{"alias_kind":"pith_short_8","alias_value":"HBS4KC2P","created_at":"2026-07-05T10:44:33Z"}],"graph_snapshots":[{"event_id":"sha256:192b4e5acb28528db1aacdccc9868ecddb380b8f3e982dbc2989c9b258aa99ef","target":"graph","created_at":"2026-07-05T10:44:33Z","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/2504.03500/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Grasping large flat objects, such as books or keyboards lying horizontally, presents significant challenges for single-arm robotic systems, often requiring extra actions like pushing objects against walls or moving them to the edge of a surface to facilitate grasping. In contrast, dual-arm manipulation, inspired by human dexterity, offers a more refined solution by directly coordinating both arms to lift and grasp the object without the need for complex repositioning. In this paper, we propose a model-free deep reinforcement learning (DRL) framework to enable dual-arm coordination for grasping","authors_text":"Hamidreza Kasaei, Yongliang Wang","cross_cats":["cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-04T14:55:46Z","title":"Learning Dual-Arm Coordination for Grasping Large Flat Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.03500","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":"sha256:7ebb707e1df563a791fed55196e79a922b88231ad2e7dd7d57ada8b61a4d326c","target":"record","created_at":"2026-07-05T10:44:33Z","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":"3710d7a609412ed05b1831adfe8609903d001d0a7bfe4e8fa9ae2679ed22995a","cross_cats_sorted":["cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-04T14:55:46Z","title_canon_sha256":"90652e4a2f1616a7a565356819b99d65441ec4d8bf15c6163d5112472be6f6a5"},"schema_version":"1.0","source":{"id":"2504.03500","kind":"arxiv","version":1}},"canonical_sha256":"3865c50b4f655ec133c4b54dbcfcda71e5b3f9542289a3c7655b78083bded2e1","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3865c50b4f655ec133c4b54dbcfcda71e5b3f9542289a3c7655b78083bded2e1","first_computed_at":"2026-07-05T10:44:33.044750Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:44:33.044750Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VQqGwkfajkCpuJeQMhsA/ym8ruogjOmHgnGbDe2EcIaf+HyOtRV2GW02+sIWPGY4ks3RUTGK+kmqmzN5+6HpBA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:44:33.045169Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.03500","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7ebb707e1df563a791fed55196e79a922b88231ad2e7dd7d57ada8b61a4d326c","sha256:192b4e5acb28528db1aacdccc9868ecddb380b8f3e982dbc2989c9b258aa99ef"],"state_sha256":"6d3c806f9584e61dd758dbb26b2fc4c585bc0c7b36c855b929df5fe732ea0429"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"XpVvx8EDqvn6sRvT7mPT7lY/sm18MDMy78N8+wsdAtvWoVss3TiAIt94DAXMSsGgU4m/vM6MWnS8sC6m4WpaBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T08:36:24.800858Z","bundle_sha256":"db0d2e82d3a7240709f96340fce1bcd7cca3af924852befecf7b686d81381b98"}}