{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:KEXJSQPDW23XIZFK7OSQPBUNWU","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":"2bc309c7ffc98cfc11c7ce3d8ae117215a26f23c2d6cfe76e833d8eca88a5138","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:38:52Z","title_canon_sha256":"fd2ae0f922c2d899b13ae8cb694da8e7ce5a25f37739bc5c391af97082c20198"},"schema_version":"1.0","source":{"id":"2606.10683","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2606.10683","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"arxiv_version","alias_value":"2606.10683v1","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.10683","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_12","alias_value":"KEXJSQPDW23X","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_16","alias_value":"KEXJSQPDW23XIZFK","created_at":"2026-06-10T01:10:34Z"},{"alias_kind":"pith_short_8","alias_value":"KEXJSQPD","created_at":"2026-06-10T01:10:34Z"}],"graph_snapshots":[{"event_id":"sha256:5cf9d2bed03aa09a2664f07b6ee9b7146c62b72cd22039c9bac5ae2994297d40","target":"graph","created_at":"2026-06-10T01:10:34Z","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/2606.10683/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Dexterous hands are essential for fine-grained manipulation, but their hardware designs vary substantially across embodiments. Differences in kinematics, joint definitions, and degrees of freedom make it difficult to define a shared state representation compared with parallel grippers. As a result, dexterous-hand data remains fragmented and difficult to use for joint training. In this work, we propose the Unified Dexterous Hand Model (UDHM), which maps human and robot hand states into a shared 22-DoF semantic interface. Based on UDHM, we introduce UniDexTok, a retargeting-free state tokenizer ","authors_text":"Dong Fang, Rui Zhang, Xiaosong Jia, Youjun Wu, Yuanxin Zhong, Yu-Gang Jiang, Yunlong Wang","cross_cats":["cs.AI","cs.CV"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:38:52Z","title":"UniDexTok: A Unified Dexterous Hand Tokenizer from Real Data"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.10683","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":"sha256:9a0a621a47c85f33f6efcf05d3a8b9cc0bd8603f2999b58236e619a37efb92a2","target":"record","created_at":"2026-06-10T01:10:34Z","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":"2bc309c7ffc98cfc11c7ce3d8ae117215a26f23c2d6cfe76e833d8eca88a5138","cross_cats_sorted":["cs.AI","cs.CV"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-09T10:38:52Z","title_canon_sha256":"fd2ae0f922c2d899b13ae8cb694da8e7ce5a25f37739bc5c391af97082c20198"},"schema_version":"1.0","source":{"id":"2606.10683","kind":"arxiv","version":1}},"canonical_sha256":"512e9941e3b6b77464aafba507868db50b0c9c712e0395c66c7775c13a85c76b","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"512e9941e3b6b77464aafba507868db50b0c9c712e0395c66c7775c13a85c76b","first_computed_at":"2026-06-10T01:10:34.160281Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-06-10T01:10:34.160281Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Q1rQj9D0A8Q7jnOlyG2WwhZNcuglctKVcaQplno3gkpvUN2//dEpEiqaAZjUy5IlW+YfOyulhZnYjkOx1/9+AA==","signature_status":"signed_v1","signed_at":"2026-06-10T01:10:34.161162Z","signed_message":"canonical_sha256_bytes"},"source_id":"2606.10683","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a0a621a47c85f33f6efcf05d3a8b9cc0bd8603f2999b58236e619a37efb92a2","sha256:5cf9d2bed03aa09a2664f07b6ee9b7146c62b72cd22039c9bac5ae2994297d40"],"state_sha256":"faaf33e413a4f95d18944442902a04bae6bc888fae02778aeb6fe57b5036526a"}