{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:JSMCGZ5HSSZP7JAWUMXYPHJM53","short_pith_number":"pith:JSMCGZ5H","canonical_record":{"source":{"id":"2605.16257","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T17:59:51Z","cross_cats_sorted":[],"title_canon_sha256":"d224e12791368bc972d0e2447f1c0c258e2bfc74ad3a8d331a9a6f9a9ce5851f","abstract_canon_sha256":"2077ab0e171200439e326474cb71bd19073fac3fe71163ed2fd5ef39ea923883"},"schema_version":"1.0"},"canonical_sha256":"4c982367a794b2ffa416a32f879d2ceefb03327a79258ad48194d9e6656d39d5","source":{"kind":"arxiv","id":"2605.16257","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.16257","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"arxiv_version","alias_value":"2605.16257v1","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.16257","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_12","alias_value":"JSMCGZ5HSSZP","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_16","alias_value":"JSMCGZ5HSSZP7JAW","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_8","alias_value":"JSMCGZ5H","created_at":"2026-05-20T00:02:00Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:JSMCGZ5HSSZP7JAWUMXYPHJM53","target":"record","payload":{"canonical_record":{"source":{"id":"2605.16257","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T17:59:51Z","cross_cats_sorted":[],"title_canon_sha256":"d224e12791368bc972d0e2447f1c0c258e2bfc74ad3a8d331a9a6f9a9ce5851f","abstract_canon_sha256":"2077ab0e171200439e326474cb71bd19073fac3fe71163ed2fd5ef39ea923883"},"schema_version":"1.0"},"canonical_sha256":"4c982367a794b2ffa416a32f879d2ceefb03327a79258ad48194d9e6656d39d5","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-20T00:02:00.530784Z","signature_b64":"/0vs19TGjK4Dct3MPIU3wfNl37KKr3FzbPMF8eu52D0FBICVjSTaSa9IngnaMKVxJzTxMDf6EWkUyIoncrhoCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"4c982367a794b2ffa416a32f879d2ceefb03327a79258ad48194d9e6656d39d5","last_reissued_at":"2026-05-20T00:02:00.529955Z","signature_status":"signed_v1","first_computed_at":"2026-05-20T00:02:00.529955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2605.16257","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":"2026-05-20T00:02:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"WB5Tiqe6Ht4O1Avlh2niNtc9h1cdLXBmaLFqinTOwAriOafQcLdq5irlxIJSwkxwyFe4s/VIJ0j5ZbDW+yuJCg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-22T10:24:25.384104Z"},"content_sha256":"00d88a863b4af1d08f7ee4eb6f747e667f25e00ee36b086443f13c756e1ece76","schema_version":"1.0","event_id":"sha256:00d88a863b4af1d08f7ee4eb6f747e667f25e00ee36b086443f13c756e1ece76"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:JSMCGZ5HSSZP7JAWUMXYPHJM53","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyuan Zheng, Gang Wang, Hanwen Wang, He Lin, He Wang, Hongsheng Li, Lue Fan, Rongtao Xu, Siyuan Huang, Tieniu Tan, Weizhi Zhao, Xiangyu Wang, Yao Mu, Zhaoxiang Zhang","submitted_at":"2026-05-15T17:59:51Z","abstract_excerpt":"Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous benchmarks lack tasks that reflect the unique manipulation capabilities of dexterous hands over parallel grippers, as well as comprehensive evaluation pipelines. In this paper, we present DexJoCo, a benchmark and toolkit for task-oriented dexterous manipulation, comprising 11 functionally grounded tasks that evaluate tool-use, bimanual coordination, long-horizon exec"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16257","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/2605.16257/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"shingle_duplication","ran_at":"2026-05-19T17:49:42.163743Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"citation_quote_validity","ran_at":"2026-05-19T17:49:41.777192Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:23.048360Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"external_links","ran_at":"2026-05-19T17:31:22.921120Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.587133Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"cited_work_retraction","ran_at":"2026-05-19T16:51:55.744947Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"a54a66a9c6d8b42b68119914c119230e4dc8cca6e1733d85ff9e3e8944b81394"},"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":"2026-05-20T00:02:00Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"zKzJdXglfCpvYACInIYInJAofj2XAx+7aYzJwy/DSPCmOW0/8jvVhPSmlOHGBl+/Tz5R0XY2Co8+BUjEZK3XCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-22T10:24:25.385046Z"},"content_sha256":"b069a50ecf04ba43318cb9bc6a4f3ea8cc8bec356b35a4706646ddd5a888d83b","schema_version":"1.0","event_id":"sha256:b069a50ecf04ba43318cb9bc6a4f3ea8cc8bec356b35a4706646ddd5a888d83b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/bundle.json","state_url":"https://pith.science/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/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":"2026-05-22T10:24:25Z","links":{"resolver":"https://pith.science/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53","bundle":"https://pith.science/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/bundle.json","state":"https://pith.science/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/state.json","well_known_bundle":"https://pith.science/.well-known/pith/JSMCGZ5HSSZP7JAWUMXYPHJM53/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:JSMCGZ5HSSZP7JAWUMXYPHJM53","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":"2077ab0e171200439e326474cb71bd19073fac3fe71163ed2fd5ef39ea923883","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T17:59:51Z","title_canon_sha256":"d224e12791368bc972d0e2447f1c0c258e2bfc74ad3a8d331a9a6f9a9ce5851f"},"schema_version":"1.0","source":{"id":"2605.16257","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2605.16257","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"arxiv_version","alias_value":"2605.16257v1","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2605.16257","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_12","alias_value":"JSMCGZ5HSSZP","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_16","alias_value":"JSMCGZ5HSSZP7JAW","created_at":"2026-05-20T00:02:00Z"},{"alias_kind":"pith_short_8","alias_value":"JSMCGZ5H","created_at":"2026-05-20T00:02:00Z"}],"graph_snapshots":[{"event_id":"sha256:b069a50ecf04ba43318cb9bc6a4f3ea8cc8bec356b35a4706646ddd5a888d83b","target":"graph","created_at":"2026-05-20T00:02:00Z","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":[{"findings_count":0,"name":"shingle_duplication","ran_at":"2026-05-19T17:49:42.163743Z","status":"skipped","version":"0.1.0"},{"findings_count":0,"name":"citation_quote_validity","ran_at":"2026-05-19T17:49:41.777192Z","status":"skipped","version":"0.1.0"},{"findings_count":0,"name":"ai_meta_artifact","ran_at":"2026-05-19T17:33:23.048360Z","status":"skipped","version":"1.0.0"},{"findings_count":0,"name":"external_links","ran_at":"2026-05-19T17:31:22.921120Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"claim_evidence","ran_at":"2026-05-19T17:01:55.587133Z","status":"completed","version":"1.0.0"},{"findings_count":0,"name":"cited_work_retraction","ran_at":"2026-05-19T16:51:55.744947Z","status":"completed","version":"1.0.0"}],"endpoint":"/pith/2605.16257/integrity.json","findings":[],"snapshot_sha256":"a54a66a9c6d8b42b68119914c119230e4dc8cca6e1733d85ff9e3e8944b81394","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Achieving human-level manipulation requires dexterous robotic hands capable of complex object interactions. Advancing such capabilities further demands standardized benchmarks for systematic evaluation. However, existing dexterous benchmarks lack tasks that reflect the unique manipulation capabilities of dexterous hands over parallel grippers, as well as comprehensive evaluation pipelines. In this paper, we present DexJoCo, a benchmark and toolkit for task-oriented dexterous manipulation, comprising 11 functionally grounded tasks that evaluate tool-use, bimanual coordination, long-horizon exec","authors_text":"Boyuan Zheng, Gang Wang, Hanwen Wang, He Lin, He Wang, Hongsheng Li, Lue Fan, Rongtao Xu, Siyuan Huang, Tieniu Tan, Weizhi Zhao, Xiangyu Wang, Yao Mu, Zhaoxiang Zhang","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T17:59:51Z","title":"DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.16257","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":"sha256:00d88a863b4af1d08f7ee4eb6f747e667f25e00ee36b086443f13c756e1ece76","target":"record","created_at":"2026-05-20T00:02:00Z","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":"2077ab0e171200439e326474cb71bd19073fac3fe71163ed2fd5ef39ea923883","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2026-05-15T17:59:51Z","title_canon_sha256":"d224e12791368bc972d0e2447f1c0c258e2bfc74ad3a8d331a9a6f9a9ce5851f"},"schema_version":"1.0","source":{"id":"2605.16257","kind":"arxiv","version":1}},"canonical_sha256":"4c982367a794b2ffa416a32f879d2ceefb03327a79258ad48194d9e6656d39d5","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"4c982367a794b2ffa416a32f879d2ceefb03327a79258ad48194d9e6656d39d5","first_computed_at":"2026-05-20T00:02:00.529955Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-20T00:02:00.529955Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"/0vs19TGjK4Dct3MPIU3wfNl37KKr3FzbPMF8eu52D0FBICVjSTaSa9IngnaMKVxJzTxMDf6EWkUyIoncrhoCw==","signature_status":"signed_v1","signed_at":"2026-05-20T00:02:00.530784Z","signed_message":"canonical_sha256_bytes"},"source_id":"2605.16257","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:00d88a863b4af1d08f7ee4eb6f747e667f25e00ee36b086443f13c756e1ece76","sha256:b069a50ecf04ba43318cb9bc6a4f3ea8cc8bec356b35a4706646ddd5a888d83b"],"state_sha256":"7c9222a285ad4a05653fe775393e4424a31d0de732d721cf9b643b4d217c398e"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"oCSbjIYfvvG4KNR9cNW7bNfLPRNMdZjIS1IvCM5uFIuaVOtWY5ZCbFCC80VulVA1zNQtHbBzsQNZW6wx4ywNDQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-22T10:24:25.389145Z","bundle_sha256":"eb8bc058e096ddcc2df589e0d54210c81e8e968ff3d7f9128355d4100e391a88"}}