{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:LFSQHH4BBXJT4BL3KRFCX5EJLA","short_pith_number":"pith:LFSQHH4B","canonical_record":{"source":{"id":"2503.04123","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T06:00:55Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"caa0aa7676f849216099e17f64af83406de0c87403716fdea189e1e8b2131b07","abstract_canon_sha256":"a59a8b9f745715b474aa3053332707c56b667b5a5a77e98cc4dccae98f728989"},"schema_version":"1.0"},"canonical_sha256":"5965039f810dd33e057b544a2bf48958175710b09ec3fe6ac787fcf417225003","source":{"kind":"arxiv","id":"2503.04123","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.04123","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"arxiv_version","alias_value":"2503.04123v1","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.04123","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_12","alias_value":"LFSQHH4BBXJT","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_16","alias_value":"LFSQHH4BBXJT4BL3","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_8","alias_value":"LFSQHH4B","created_at":"2026-07-05T10:25:29Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:LFSQHH4BBXJT4BL3KRFCX5EJLA","target":"record","payload":{"canonical_record":{"source":{"id":"2503.04123","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T06:00:55Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"caa0aa7676f849216099e17f64af83406de0c87403716fdea189e1e8b2131b07","abstract_canon_sha256":"a59a8b9f745715b474aa3053332707c56b667b5a5a77e98cc4dccae98f728989"},"schema_version":"1.0"},"canonical_sha256":"5965039f810dd33e057b544a2bf48958175710b09ec3fe6ac787fcf417225003","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:25:29.371240Z","signature_b64":"ebynxL2Y9s5vBZUY+TfHR/ctopg7SwIfAMjmxw2y+HmpP2ETdXv8QLGioGr02T9C5/qGKdivXR1Lsye4dolZAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5965039f810dd33e057b544a2bf48958175710b09ec3fe6ac787fcf417225003","last_reissued_at":"2026-07-05T10:25:29.370593Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:25:29.370593Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2503.04123","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":"2026-07-05T10:25:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"mxWNCOoa8+fyfMx5b0skC0s3pOPXQ6/9HbnsCgUYrBdNhDL/ZKMcQsTbSdOz05uUGSY3jTWqFPqNwA3Ow/CSBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:45:44.768296Z"},"content_sha256":"76222ede63415cc534b68d343e44e9da96bc56ae0b891ff1ddc30d6a39ab56bc","schema_version":"1.0","event_id":"sha256:76222ede63415cc534b68d343e44e9da96bc56ae0b891ff1ddc30d6a39ab56bc"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:LFSQHH4BBXJT4BL3KRFCX5EJLA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Christine Allen-Blanchette, Tao Zhong","submitted_at":"2025-03-06T06:00:55Z","abstract_excerpt":"We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding the SE(3) symmetry constraint directly into the architecture, our method improves data and parameter efficiency while enabling robust grasp generation across diverse object poses. Additionally, we incorporate a differentiable physics-informed refinement layer, which ensures that generated grasps are physically plausible and stable. Extensive experiments demonstrate the model's superior performance in generalization, "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.04123","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/2503.04123/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":"2026-07-05T10:25:29Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"aq+7K2ETyuw84QEGRUQQMhZPMU4VMqzTok0xmuXEKzTf9RYcqwOJR6fxrrQbKwBff62kY+bPnhco0456FJ14Bg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-06T08:45:44.768695Z"},"content_sha256":"d3015af9ec438356c7ed28ec799d0e594d8f81ec5f86e0a3d01645f63b6fa638","schema_version":"1.0","event_id":"sha256:d3015af9ec438356c7ed28ec799d0e594d8f81ec5f86e0a3d01645f63b6fa638"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/bundle.json","state_url":"https://pith.science/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/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":"2026-07-06T08:45:44Z","links":{"resolver":"https://pith.science/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA","bundle":"https://pith.science/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/bundle.json","state":"https://pith.science/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/LFSQHH4BBXJT4BL3KRFCX5EJLA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:LFSQHH4BBXJT4BL3KRFCX5EJLA","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":"a59a8b9f745715b474aa3053332707c56b667b5a5a77e98cc4dccae98f728989","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T06:00:55Z","title_canon_sha256":"caa0aa7676f849216099e17f64af83406de0c87403716fdea189e1e8b2131b07"},"schema_version":"1.0","source":{"id":"2503.04123","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.04123","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"arxiv_version","alias_value":"2503.04123v1","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.04123","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_12","alias_value":"LFSQHH4BBXJT","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_16","alias_value":"LFSQHH4BBXJT4BL3","created_at":"2026-07-05T10:25:29Z"},{"alias_kind":"pith_short_8","alias_value":"LFSQHH4B","created_at":"2026-07-05T10:25:29Z"}],"graph_snapshots":[{"event_id":"sha256:d3015af9ec438356c7ed28ec799d0e594d8f81ec5f86e0a3d01645f63b6fa638","target":"graph","created_at":"2026-07-05T10:25:29Z","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/2503.04123/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose GAGrasp, a novel framework for dexterous grasp generation that leverages geometric algebra representations to enforce equivariance to SE(3) transformations. By encoding the SE(3) symmetry constraint directly into the architecture, our method improves data and parameter efficiency while enabling robust grasp generation across diverse object poses. Additionally, we incorporate a differentiable physics-informed refinement layer, which ensures that generated grasps are physically plausible and stable. Extensive experiments demonstrate the model's superior performance in generalization, ","authors_text":"Christine Allen-Blanchette, Tao Zhong","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T06:00:55Z","title":"GAGrasp: Geometric Algebra Diffusion for Dexterous Grasping"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.04123","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":"sha256:76222ede63415cc534b68d343e44e9da96bc56ae0b891ff1ddc30d6a39ab56bc","target":"record","created_at":"2026-07-05T10:25:29Z","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":"a59a8b9f745715b474aa3053332707c56b667b5a5a77e98cc4dccae98f728989","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-06T06:00:55Z","title_canon_sha256":"caa0aa7676f849216099e17f64af83406de0c87403716fdea189e1e8b2131b07"},"schema_version":"1.0","source":{"id":"2503.04123","kind":"arxiv","version":1}},"canonical_sha256":"5965039f810dd33e057b544a2bf48958175710b09ec3fe6ac787fcf417225003","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"5965039f810dd33e057b544a2bf48958175710b09ec3fe6ac787fcf417225003","first_computed_at":"2026-07-05T10:25:29.370593Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:25:29.370593Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"ebynxL2Y9s5vBZUY+TfHR/ctopg7SwIfAMjmxw2y+HmpP2ETdXv8QLGioGr02T9C5/qGKdivXR1Lsye4dolZAw==","signature_status":"signed_v1","signed_at":"2026-07-05T10:25:29.371240Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.04123","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:76222ede63415cc534b68d343e44e9da96bc56ae0b891ff1ddc30d6a39ab56bc","sha256:d3015af9ec438356c7ed28ec799d0e594d8f81ec5f86e0a3d01645f63b6fa638"],"state_sha256":"644f73b2ab0069f5ee8edf4b3179cda676202c73e46d754e78791a97101508c4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"fqJhsk/Rv90i1RoDnzJPR93H3+1P4ldwaP19u7xKp+X9TOjdocL45Dy/4/WIcB+aqA+GxeQ5ssYNlC+oveuhBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-06T08:45:44.770692Z","bundle_sha256":"3a97361e34eba343985c0004807f3baa5f1c0c848234c8997cc58b63255721a0"}}