{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2019:HHCI52RRR624FJTHWA5ROJ6JZN","short_pith_number":"pith:HHCI52RR","schema_version":"1.0","canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","source":{"kind":"arxiv","id":"1904.11382","version":2},"attestation_state":"computed","paper":{"title":"Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Smith, Danica Kragic, Kaiyu Hang, Silvia Cruciani","submitted_at":"2019-04-25T14:35:54Z","abstract_excerpt":"This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and regrasping. The DMG is a disconnected undirected graph that represents the possible motions of a finger along the object's surface. We formulate the in-hand manipulation and regrasping problem as a graph search problem from the initial to the final configuration. The resulting plan is a sequence of coordinated in-hand pushing and regrasping movements. We propose a dua"},"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":"1904.11382","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-25T14:35:54Z","cross_cats_sorted":[],"title_canon_sha256":"0df75ed338a1490998a1289f73dd08ca111d9b7b5b7cab46bbd24e023a436bef","abstract_canon_sha256":"d72de48ac13aa0ba750c67d66de72d965b767d6b96d5bdd3c82e9fdd6b407555"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:46:03.131805Z","signature_b64":"F2iGNOMXyqRpM8DoaZc7AqslnxJDRI+/VePxZ5zYnSw2G1juyoEoraf1fwYignH6EeaEsI578BTeil/yOqMpAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","last_reissued_at":"2026-05-17T23:46:03.131116Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:46:03.131116Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Christian Smith, Danica Kragic, Kaiyu Hang, Silvia Cruciani","submitted_at":"2019-04-25T14:35:54Z","abstract_excerpt":"This work focuses on the problem of in-hand manipulation and regrasping of objects with parallel grippers. We propose Dexterous Manipulation Graph (DMG) as a representation on which we define planning for in-hand manipulation and regrasping. The DMG is a disconnected undirected graph that represents the possible motions of a finger along the object's surface. We formulate the in-hand manipulation and regrasping problem as a graph search problem from the initial to the final configuration. The resulting plan is a sequence of coordinated in-hand pushing and regrasping movements. We propose a dua"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.11382","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":""},"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":"1904.11382","created_at":"2026-05-17T23:46:03.131258+00:00"},{"alias_kind":"arxiv_version","alias_value":"1904.11382v2","created_at":"2026-05-17T23:46:03.131258+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.11382","created_at":"2026-05-17T23:46:03.131258+00:00"},{"alias_kind":"pith_short_12","alias_value":"HHCI52RRR624","created_at":"2026-05-18T12:33:18.533446+00:00"},{"alias_kind":"pith_short_16","alias_value":"HHCI52RRR624FJTH","created_at":"2026-05-18T12:33:18.533446+00:00"},{"alias_kind":"pith_short_8","alias_value":"HHCI52RR","created_at":"2026-05-18T12:33:18.533446+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/HHCI52RRR624FJTHWA5ROJ6JZN","json":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN.json","graph_json":"https://pith.science/api/pith-number/HHCI52RRR624FJTHWA5ROJ6JZN/graph.json","events_json":"https://pith.science/api/pith-number/HHCI52RRR624FJTHWA5ROJ6JZN/events.json","paper":"https://pith.science/paper/HHCI52RR"},"agent_actions":{"view_html":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN","download_json":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN.json","view_paper":"https://pith.science/paper/HHCI52RR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1904.11382&json=true","fetch_graph":"https://pith.science/api/pith-number/HHCI52RRR624FJTHWA5ROJ6JZN/graph.json","fetch_events":"https://pith.science/api/pith-number/HHCI52RRR624FJTHWA5ROJ6JZN/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/action/timestamp_anchor","attest_storage":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/action/storage_attestation","attest_author":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/action/author_attestation","sign_citation":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/action/citation_signature","submit_replication":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/action/replication_record"}},"created_at":"2026-05-17T23:46:03.131258+00:00","updated_at":"2026-05-17T23:46:03.131258+00:00"}