{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:QEINZHYB6HOBGSZLK5HTRLSQBK","short_pith_number":"pith:QEINZHYB","canonical_record":{"source":{"id":"2403.12421","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T04:08:18Z","cross_cats_sorted":[],"title_canon_sha256":"c705ce07d14ab0835a417f35aa8232fadfba298ceddac240d43cb7ecf5921486","abstract_canon_sha256":"4c1d3262fa7a9c305e41a4984f5d61aff91c7016abbae35a3744b549c09dd827"},"schema_version":"1.0"},"canonical_sha256":"8110dc9f01f1dc134b2b574f38ae500a9ad2187c8d27d300bd9124f3090ac532","source":{"kind":"arxiv","id":"2403.12421","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.12421","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"arxiv_version","alias_value":"2403.12421v2","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.12421","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_12","alias_value":"QEINZHYB6HOB","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_16","alias_value":"QEINZHYB6HOBGSZL","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_8","alias_value":"QEINZHYB","created_at":"2026-07-05T08:15:46Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:QEINZHYB6HOBGSZLK5HTRLSQBK","target":"record","payload":{"canonical_record":{"source":{"id":"2403.12421","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T04:08:18Z","cross_cats_sorted":[],"title_canon_sha256":"c705ce07d14ab0835a417f35aa8232fadfba298ceddac240d43cb7ecf5921486","abstract_canon_sha256":"4c1d3262fa7a9c305e41a4984f5d61aff91c7016abbae35a3744b549c09dd827"},"schema_version":"1.0"},"canonical_sha256":"8110dc9f01f1dc134b2b574f38ae500a9ad2187c8d27d300bd9124f3090ac532","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:15:46.548918Z","signature_b64":"DXn2c5nrUoo2Hcdi//RvOYyAI+tyZ4I6uBMfNJ0aEXx7sL4LF3ih45DsBIF1TLrFvz4jVS1al5uWIyAzZnJyAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8110dc9f01f1dc134b2b574f38ae500a9ad2187c8d27d300bd9124f3090ac532","last_reissued_at":"2026-07-05T08:15:46.548468Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:15:46.548468Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2403.12421","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:15:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"KXgzXaqwj8KpR4NYqTC0NPBL/M9tAJ8ageCjSecsytdWQv8npayDF4xlMDS2COKNmpOkyegrNREQVJHgbIiYDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:19:10.873279Z"},"content_sha256":"26154162865b778bf558f86c81801b48830b6be665c0a9986cf4fa863a6091ba","schema_version":"1.0","event_id":"sha256:26154162865b778bf558f86c81801b48830b6be665c0a9986cf4fa863a6091ba"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:QEINZHYB6HOBGSZLK5HTRLSQBK","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Hao Dong, Jingbo Cheng, Mingdong Wu, Tianhao Wu, Yaodong Yang, Yixin Zhu, Yunchong Gan","submitted_at":"2024-03-19T04:08:18Z","abstract_excerpt":"In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control over the relative position, orientation, and contact between the hand and object while generalizing to diverse dynamic scenarios with varying objects and goal poses. To address this challenge, we propose a teacher-student learning approach that utilizes a novel mutual reward, incentivizing agents to optimize three key criteria jointly. Additionally, we introdu"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.12421","kind":"arxiv","version":2},"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/2403.12421/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":"2026-07-05T08:15:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"GQfIs2/vzz/71yvAGGFg12YoU4T4LiTbBAgXcHyZMw90yerU+mskY59fyMJtc4YfwTl22Da2GPQAW5+t6ic9AQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-07T06:19:10.873934Z"},"content_sha256":"27c9ca12cb2b4239209e6576d664317262c352fc29d61468a507ef3bb838ff51","schema_version":"1.0","event_id":"sha256:27c9ca12cb2b4239209e6576d664317262c352fc29d61468a507ef3bb838ff51"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/bundle.json","state_url":"https://pith.science/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/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":"2026-07-07T06:19:10Z","links":{"resolver":"https://pith.science/pith/QEINZHYB6HOBGSZLK5HTRLSQBK","bundle":"https://pith.science/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/bundle.json","state":"https://pith.science/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/state.json","well_known_bundle":"https://pith.science/.well-known/pith/QEINZHYB6HOBGSZLK5HTRLSQBK/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QEINZHYB6HOBGSZLK5HTRLSQBK","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":"4c1d3262fa7a9c305e41a4984f5d61aff91c7016abbae35a3744b549c09dd827","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T04:08:18Z","title_canon_sha256":"c705ce07d14ab0835a417f35aa8232fadfba298ceddac240d43cb7ecf5921486"},"schema_version":"1.0","source":{"id":"2403.12421","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2403.12421","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"arxiv_version","alias_value":"2403.12421v2","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2403.12421","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_12","alias_value":"QEINZHYB6HOB","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_16","alias_value":"QEINZHYB6HOBGSZL","created_at":"2026-07-05T08:15:46Z"},{"alias_kind":"pith_short_8","alias_value":"QEINZHYB","created_at":"2026-07-05T08:15:46Z"}],"graph_snapshots":[{"event_id":"sha256:27c9ca12cb2b4239209e6576d664317262c352fc29d61468a507ef3bb838ff51","target":"graph","created_at":"2026-07-05T08:15:46Z","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/2403.12421/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In real-world scenarios, objects often require repositioning and reorientation before they can be grasped, a process known as pre-grasp manipulation. Learning universal dexterous functional pre-grasp manipulation requires precise control over the relative position, orientation, and contact between the hand and object while generalizing to diverse dynamic scenarios with varying objects and goal poses. To address this challenge, we propose a teacher-student learning approach that utilizes a novel mutual reward, incentivizing agents to optimize three key criteria jointly. Additionally, we introdu","authors_text":"Hao Dong, Jingbo Cheng, Mingdong Wu, Tianhao Wu, Yaodong Yang, Yixin Zhu, Yunchong Gan","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T04:08:18Z","title":"Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2403.12421","kind":"arxiv","version":2},"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":"sha256:26154162865b778bf558f86c81801b48830b6be665c0a9986cf4fa863a6091ba","target":"record","created_at":"2026-07-05T08:15:46Z","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":"4c1d3262fa7a9c305e41a4984f5d61aff91c7016abbae35a3744b549c09dd827","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-03-19T04:08:18Z","title_canon_sha256":"c705ce07d14ab0835a417f35aa8232fadfba298ceddac240d43cb7ecf5921486"},"schema_version":"1.0","source":{"id":"2403.12421","kind":"arxiv","version":2}},"canonical_sha256":"8110dc9f01f1dc134b2b574f38ae500a9ad2187c8d27d300bd9124f3090ac532","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8110dc9f01f1dc134b2b574f38ae500a9ad2187c8d27d300bd9124f3090ac532","first_computed_at":"2026-07-05T08:15:46.548468Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:15:46.548468Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"DXn2c5nrUoo2Hcdi//RvOYyAI+tyZ4I6uBMfNJ0aEXx7sL4LF3ih45DsBIF1TLrFvz4jVS1al5uWIyAzZnJyAA==","signature_status":"signed_v1","signed_at":"2026-07-05T08:15:46.548918Z","signed_message":"canonical_sha256_bytes"},"source_id":"2403.12421","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:26154162865b778bf558f86c81801b48830b6be665c0a9986cf4fa863a6091ba","sha256:27c9ca12cb2b4239209e6576d664317262c352fc29d61468a507ef3bb838ff51"],"state_sha256":"5dd309d37966800db57db4fd188660cd857b280952d90928a5980e1531667fed"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"odpqFfEf/0LGFIHrC1EIvruqD7MjJsb7uZlNDpigFH4EkxByyvhejJmEz5X6P/Pdlsf/BzYcT3wVrZfXbuTlBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-07T06:19:10.878642Z","bundle_sha256":"19333d2d60dbba6ed7212b6b2c9e74cd02a89b6d9e22ed051464e210292fd318"}}