{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:HHCI52RRR624FJTHWA5ROJ6JZN","short_pith_number":"pith:HHCI52RR","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"},"canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","source":{"kind":"arxiv","id":"1904.11382","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.11382","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"arxiv_version","alias_value":"1904.11382v2","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.11382","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"pith_short_12","alias_value":"HHCI52RRR624","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HHCI52RRR624FJTH","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HHCI52RR","created_at":"2026-05-18T12:33:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:HHCI52RRR624FJTHWA5ROJ6JZN","target":"record","payload":{"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"},"canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","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"},"source_kind":"arxiv","source_id":"1904.11382","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":"2026-05-17T23:46:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F9GmcN8IO6K69s34w5RwBLnam1G3ejZa4hYRmt52Lzy9SNZcQiXS+TftWHfA23DEnsoRGsSVMBAB8oaMcjQZAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T10:01:47.369339Z"},"content_sha256":"339449e138dbe004b3053a3b2ad7467f0f24a1da13d24339a60886578c8f1aa0","schema_version":"1.0","event_id":"sha256:339449e138dbe004b3053a3b2ad7467f0f24a1da13d24339a60886578c8f1aa0"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:HHCI52RRR624FJTHWA5ROJ6JZN","target":"graph","payload":{"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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-17T23:46:03Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oUc8+ZDxecsF/VM4+iqIYPhpSKccH4klu4Xip30qBW7uJFb+NzzcrC+lCw6TWHUgEut5a3rqIPHXBz4ata1MCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-11T10:01:47.370040Z"},"content_sha256":"c9f81b23d76bec1ddb32562dccf43853c8381c83b51c2a0ca8598ac8f6014766","schema_version":"1.0","event_id":"sha256:c9f81b23d76bec1ddb32562dccf43853c8381c83b51c2a0ca8598ac8f6014766"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/bundle.json","state_url":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HHCI52RRR624FJTHWA5ROJ6JZN/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":"2026-06-11T10:01:47Z","links":{"resolver":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN","bundle":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/bundle.json","state":"https://pith.science/pith/HHCI52RRR624FJTHWA5ROJ6JZN/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HHCI52RRR624FJTHWA5ROJ6JZN/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:HHCI52RRR624FJTHWA5ROJ6JZN","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":"d72de48ac13aa0ba750c67d66de72d965b767d6b96d5bdd3c82e9fdd6b407555","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-25T14:35:54Z","title_canon_sha256":"0df75ed338a1490998a1289f73dd08ca111d9b7b5b7cab46bbd24e023a436bef"},"schema_version":"1.0","source":{"id":"1904.11382","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1904.11382","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"arxiv_version","alias_value":"1904.11382v2","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1904.11382","created_at":"2026-05-17T23:46:03Z"},{"alias_kind":"pith_short_12","alias_value":"HHCI52RRR624","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HHCI52RRR624FJTH","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HHCI52RR","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:c9f81b23d76bec1ddb32562dccf43853c8381c83b51c2a0ca8598ac8f6014766","target":"graph","created_at":"2026-05-17T23:46:03Z","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"},"paper":{"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","authors_text":"Christian Smith, Danica Kragic, Kaiyu Hang, Silvia Cruciani","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-25T14:35:54Z","title":"Dual-Arm In-Hand Manipulation and Regrasping Using Dexterous Manipulation Graphs"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1904.11382","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":"sha256:339449e138dbe004b3053a3b2ad7467f0f24a1da13d24339a60886578c8f1aa0","target":"record","created_at":"2026-05-17T23:46:03Z","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":"d72de48ac13aa0ba750c67d66de72d965b767d6b96d5bdd3c82e9fdd6b407555","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2019-04-25T14:35:54Z","title_canon_sha256":"0df75ed338a1490998a1289f73dd08ca111d9b7b5b7cab46bbd24e023a436bef"},"schema_version":"1.0","source":{"id":"1904.11382","kind":"arxiv","version":2}},"canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"39c48eea318fb5c2a667b03b1727c9cb7f6cfde73019f4e5643dba1e2f5e46e9","first_computed_at":"2026-05-17T23:46:03.131116Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:46:03.131116Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F2iGNOMXyqRpM8DoaZc7AqslnxJDRI+/VePxZ5zYnSw2G1juyoEoraf1fwYignH6EeaEsI578BTeil/yOqMpAw==","signature_status":"signed_v1","signed_at":"2026-05-17T23:46:03.131805Z","signed_message":"canonical_sha256_bytes"},"source_id":"1904.11382","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:339449e138dbe004b3053a3b2ad7467f0f24a1da13d24339a60886578c8f1aa0","sha256:c9f81b23d76bec1ddb32562dccf43853c8381c83b51c2a0ca8598ac8f6014766"],"state_sha256":"5deec2d2160805da92f0f81d6981043fe88037c645de6e882f91704d1fb3d669"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Ob3j5pqbLFRmInYWqgcev9uzCAL20HS/MBo1rmfZ5Dj9YrCkwUt3V+HFhDU7R0TcIR7D7rhHWXzDwHLP3yacBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-11T10:01:47.373621Z","bundle_sha256":"886b7e5dd9bc33828a215e620d603e3cfb040c3380f6a43cefa6706b00b5f573"}}