{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:IDP4ZKDTWWYNHIZLQQCVAUFA4D","short_pith_number":"pith:IDP4ZKDT","canonical_record":{"source":{"id":"2504.05287","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-07T17:38:19Z","cross_cats_sorted":[],"title_canon_sha256":"da2812a86185f9f25663052b1d74a5129b03b75bc97d68e8a8e995355da4d761","abstract_canon_sha256":"105e79d70edbebfcf9d11a2d42946687db7982b25e41fc1c1b78fe30026e1951"},"schema_version":"1.0"},"canonical_sha256":"40dfcca873b5b0d3a32b84055050a0e0d4a1024b75c3f7f1165f9b0b4336cc3f","source":{"kind":"arxiv","id":"2504.05287","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.05287","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"arxiv_version","alias_value":"2504.05287v3","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.05287","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_12","alias_value":"IDP4ZKDTWWYN","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_16","alias_value":"IDP4ZKDTWWYNHIZL","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_8","alias_value":"IDP4ZKDT","created_at":"2026-07-05T11:53:45Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:IDP4ZKDTWWYNHIZLQQCVAUFA4D","target":"record","payload":{"canonical_record":{"source":{"id":"2504.05287","kind":"arxiv","version":3},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-07T17:38:19Z","cross_cats_sorted":[],"title_canon_sha256":"da2812a86185f9f25663052b1d74a5129b03b75bc97d68e8a8e995355da4d761","abstract_canon_sha256":"105e79d70edbebfcf9d11a2d42946687db7982b25e41fc1c1b78fe30026e1951"},"schema_version":"1.0"},"canonical_sha256":"40dfcca873b5b0d3a32b84055050a0e0d4a1024b75c3f7f1165f9b0b4336cc3f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:53:45.470692Z","signature_b64":"i2RnqOdzfisA/vngARCdUi39zoeCeFk4wK31P4deIDyZDirsHcM4xo5PEerfpm6RvUKstrAHUyDVvvJuRu6FCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"40dfcca873b5b0d3a32b84055050a0e0d4a1024b75c3f7f1165f9b0b4336cc3f","last_reissued_at":"2026-07-05T11:53:45.470212Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:53:45.470212Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2504.05287","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T11:53:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"73OIP9t+BLnlWFi6ll1ctZ9HjpvH9gSLwT7a1HZIIrmwAnM8vaZlH2Haz7k9VPmN+iVE88y9bFBuANevg9AuDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T01:56:24.049514Z"},"content_sha256":"b039d9683cf8ebfa5b508feb0637c9ea9d9e4ccb9402bb461528510f13bf5860","schema_version":"1.0","event_id":"sha256:b039d9683cf8ebfa5b508feb0637c9ea9d9e4ccb9402bb461528510f13bf5860"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:IDP4ZKDTWWYNHIZLQQCVAUFA4D","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"RobustDexGrasp: Robust Dexterous Grasping of General Objects","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hui Zhang, Jie Song, Linyi Huang, Sammy Christen, Zijian Wu","submitted_at":"2025-04-07T17:38:19Z","abstract_excerpt":"The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various disturbances. Our approach utilizes a hand-centric object shape representation based on dynamic distance vectors between finger joints and object surfaces. This representation captures the local shape around potential contact regions rather than focusing on detailed global object geometry, thereby enhancing generalization to shape variations and uncertainties. To "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.05287","kind":"arxiv","version":3},"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/2504.05287/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":"2026-07-05T11:53:45Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zRHyJWPlDKLFsIrFcvSfne3jZuBxJMMFzYlT5WFbavqwAQ9+rCx3f7t8XMLyArVQ9gHRsKHIUgeZ96hsnk6uBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-06T01:56:24.050061Z"},"content_sha256":"2fe418471dd54638a8591ace26beb5f408394aae86c22c52dcd23fab776534e7","schema_version":"1.0","event_id":"sha256:2fe418471dd54638a8591ace26beb5f408394aae86c22c52dcd23fab776534e7"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/bundle.json","state_url":"https://pith.science/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/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":"2026-08-06T01:56:24Z","links":{"resolver":"https://pith.science/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D","bundle":"https://pith.science/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/bundle.json","state":"https://pith.science/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/state.json","well_known_bundle":"https://pith.science/.well-known/pith/IDP4ZKDTWWYNHIZLQQCVAUFA4D/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:IDP4ZKDTWWYNHIZLQQCVAUFA4D","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":"105e79d70edbebfcf9d11a2d42946687db7982b25e41fc1c1b78fe30026e1951","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-07T17:38:19Z","title_canon_sha256":"da2812a86185f9f25663052b1d74a5129b03b75bc97d68e8a8e995355da4d761"},"schema_version":"1.0","source":{"id":"2504.05287","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2504.05287","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"arxiv_version","alias_value":"2504.05287v3","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2504.05287","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_12","alias_value":"IDP4ZKDTWWYN","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_16","alias_value":"IDP4ZKDTWWYNHIZL","created_at":"2026-07-05T11:53:45Z"},{"alias_kind":"pith_short_8","alias_value":"IDP4ZKDT","created_at":"2026-07-05T11:53:45Z"}],"graph_snapshots":[{"event_id":"sha256:2fe418471dd54638a8591ace26beb5f408394aae86c22c52dcd23fab776534e7","target":"graph","created_at":"2026-07-05T11:53:45Z","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/2504.05287/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"The ability to robustly grasp a variety of objects is essential for dexterous robots. In this paper, we present a framework for zero-shot dynamic dexterous grasping using single-view visual inputs, designed to be resilient to various disturbances. Our approach utilizes a hand-centric object shape representation based on dynamic distance vectors between finger joints and object surfaces. This representation captures the local shape around potential contact regions rather than focusing on detailed global object geometry, thereby enhancing generalization to shape variations and uncertainties. To ","authors_text":"Hui Zhang, Jie Song, Linyi Huang, Sammy Christen, Zijian Wu","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-07T17:38:19Z","title":"RobustDexGrasp: Robust Dexterous Grasping of General Objects"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.05287","kind":"arxiv","version":3},"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:b039d9683cf8ebfa5b508feb0637c9ea9d9e4ccb9402bb461528510f13bf5860","target":"record","created_at":"2026-07-05T11:53:45Z","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":"105e79d70edbebfcf9d11a2d42946687db7982b25e41fc1c1b78fe30026e1951","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-04-07T17:38:19Z","title_canon_sha256":"da2812a86185f9f25663052b1d74a5129b03b75bc97d68e8a8e995355da4d761"},"schema_version":"1.0","source":{"id":"2504.05287","kind":"arxiv","version":3}},"canonical_sha256":"40dfcca873b5b0d3a32b84055050a0e0d4a1024b75c3f7f1165f9b0b4336cc3f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"40dfcca873b5b0d3a32b84055050a0e0d4a1024b75c3f7f1165f9b0b4336cc3f","first_computed_at":"2026-07-05T11:53:45.470212Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:53:45.470212Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"i2RnqOdzfisA/vngARCdUi39zoeCeFk4wK31P4deIDyZDirsHcM4xo5PEerfpm6RvUKstrAHUyDVvvJuRu6FCQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:53:45.470692Z","signed_message":"canonical_sha256_bytes"},"source_id":"2504.05287","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:b039d9683cf8ebfa5b508feb0637c9ea9d9e4ccb9402bb461528510f13bf5860","sha256:2fe418471dd54638a8591ace26beb5f408394aae86c22c52dcd23fab776534e7"],"state_sha256":"3e14aa3b46ab9c8e7eb8a286dad0f786a8c18de81d155afab51d030716c10c6d"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"eX+gUeoCMIaSsJR9jGL3UKeQSef3xD4QYLZt9P8tBq415XDKhblo2MBNeuDcAYu6HBt8CfabrwaweCd96kLCCg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-06T01:56:24.056215Z","bundle_sha256":"460c2b16b5aea51224f919f43acf795f5c307c4c1f1b20fcc15258a47a0d381a"}}