{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:MGFHFCU5CI6AXT4K6HPDUZH3S4","short_pith_number":"pith:MGFHFCU5","schema_version":"1.0","canonical_sha256":"618a728a9d123c0bcf8af1de3a64fb971b270889c30f66128058d3959e0908c1","source":{"kind":"arxiv","id":"2606.09798","version":1},"attestation_state":"computed","paper":{"title":"SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mingjie Zhou, Tianxing Chen, Wenwei Lin, Xiaokang Yang, Yanming Shao, Yao Mu, Yichen Chi, Zanxin Chen","submitted_at":"2026-06-08T17:52:45Z","abstract_excerpt":"Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynManDex, a synthetic pipeline that uses generated human pre-grasps as affordance-aware proposals and resolves the final contacts with robot-native optimization. SynManDex samples object-conditioned digital human pre-grasps, retargets them to dexterous robotic hand poses, optimizes force-closure contacts on the target embodiment, and admits trajectories that pass checks from each step. The resulting keyframes support both"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.09798","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-08T17:52:45Z","cross_cats_sorted":[],"title_canon_sha256":"c5a26d307940cb3f15fb3302f8a62b8a0836896790c23c6da286bdebd087d8a7","abstract_canon_sha256":"9b9bf285c4cf186ceefb7fb0781c136e97338a12c841c060f6c14dc952eed7f3"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-09T02:09:10.463754Z","signature_b64":"ge+fOw9JVE3JBk8tFkwZTWmmFFXdyMf0pWiUtvDelcEayORkN2dsg0hiy/CDUATtKF4ZKnGKNFnb3nFeHogJAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"618a728a9d123c0bcf8af1de3a64fb971b270889c30f66128058d3959e0908c1","last_reissued_at":"2026-06-09T02:09:10.462852Z","signature_status":"signed_v1","first_computed_at":"2026-06-09T02:09:10.462852Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"SynManDex: Synthesizing Human-like Dexterous Grasps from Synthetic Human Pre-Grasps","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Mingjie Zhou, Tianxing Chen, Wenwei Lin, Xiaokang Yang, Yanming Shao, Yao Mu, Yichen Chi, Zanxin Chen","submitted_at":"2026-06-08T17:52:45Z","abstract_excerpt":"Human hand-object interactions encode functional intent, but direct transfer to robotic hands often fails under morphology, contact, and reachability constraints. We present SynManDex, a synthetic pipeline that uses generated human pre-grasps as affordance-aware proposals and resolves the final contacts with robot-native optimization. SynManDex samples object-conditioned digital human pre-grasps, retargets them to dexterous robotic hand poses, optimizes force-closure contacts on the target embodiment, and admits trajectories that pass checks from each step. The resulting keyframes support both"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.09798","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/2606.09798/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.09798","created_at":"2026-06-09T02:09:10.463007+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.09798v1","created_at":"2026-06-09T02:09:10.463007+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.09798","created_at":"2026-06-09T02:09:10.463007+00:00"},{"alias_kind":"pith_short_12","alias_value":"MGFHFCU5CI6A","created_at":"2026-06-09T02:09:10.463007+00:00"},{"alias_kind":"pith_short_16","alias_value":"MGFHFCU5CI6AXT4K","created_at":"2026-06-09T02:09:10.463007+00:00"},{"alias_kind":"pith_short_8","alias_value":"MGFHFCU5","created_at":"2026-06-09T02:09:10.463007+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4","json":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4.json","graph_json":"https://pith.science/api/pith-number/MGFHFCU5CI6AXT4K6HPDUZH3S4/graph.json","events_json":"https://pith.science/api/pith-number/MGFHFCU5CI6AXT4K6HPDUZH3S4/events.json","paper":"https://pith.science/paper/MGFHFCU5"},"agent_actions":{"view_html":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4","download_json":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4.json","view_paper":"https://pith.science/paper/MGFHFCU5","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.09798&json=true","fetch_graph":"https://pith.science/api/pith-number/MGFHFCU5CI6AXT4K6HPDUZH3S4/graph.json","fetch_events":"https://pith.science/api/pith-number/MGFHFCU5CI6AXT4K6HPDUZH3S4/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4/action/timestamp_anchor","attest_storage":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4/action/storage_attestation","attest_author":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4/action/author_attestation","sign_citation":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4/action/citation_signature","submit_replication":"https://pith.science/pith/MGFHFCU5CI6AXT4K6HPDUZH3S4/action/replication_record"}},"created_at":"2026-06-09T02:09:10.463007+00:00","updated_at":"2026-06-09T02:09:10.463007+00:00"}