{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:QNPEDJGARB2RMCTSDKNMM6WLNV","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":"00ae3279380769ca4ad4b69c62c58eac808b97363b5da862fb6f98d0e7b12966","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-20T09:25:02Z","title_canon_sha256":"9bfee53d671e10f098a8245db6706594512452645ef79037b7925496196a7769"},"schema_version":"1.0","source":{"id":"2411.13148","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2411.13148","created_at":"2026-07-05T09:38:05Z"},{"alias_kind":"arxiv_version","alias_value":"2411.13148v1","created_at":"2026-07-05T09:38:05Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2411.13148","created_at":"2026-07-05T09:38:05Z"},{"alias_kind":"pith_short_12","alias_value":"QNPEDJGARB2R","created_at":"2026-07-05T09:38:05Z"},{"alias_kind":"pith_short_16","alias_value":"QNPEDJGARB2RMCTS","created_at":"2026-07-05T09:38:05Z"},{"alias_kind":"pith_short_8","alias_value":"QNPEDJGA","created_at":"2026-07-05T09:38:05Z"}],"graph_snapshots":[{"event_id":"sha256:bd8a0cbfaf24bd46e39dc17db710f90a1b58a216e58f70a101c486434ebcfb33","target":"graph","created_at":"2026-07-05T09:38:05Z","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/2411.13148/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and generalization, this paper addresses the critical performance measure of the speed at which an in-hand manipulation can be performed. We present reinforcement learning policies that can perform in-hand reorientation significantly faster than previous approaches for the complex setting of goal-conditioned reorientation in SO(3) with permanent force closure and tact","authors_text":"Berthold B\\\"auml, Johannes Pitz, Lennart R\\\"ostel, Leon Sievers","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-20T09:25:02Z","title":"Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2411.13148","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":"sha256:6bcdebdb8dcd4dedcacf33bc741a03502368103c4d57024e8bca63fe1968c255","target":"record","created_at":"2026-07-05T09:38:05Z","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":"00ae3279380769ca4ad4b69c62c58eac808b97363b5da862fb6f98d0e7b12966","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-11-20T09:25:02Z","title_canon_sha256":"9bfee53d671e10f098a8245db6706594512452645ef79037b7925496196a7769"},"schema_version":"1.0","source":{"id":"2411.13148","kind":"arxiv","version":1}},"canonical_sha256":"835e41a4c08875160a721a9ac67acb6d60ecbf8ec824102993fd9b37e81ac54f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"835e41a4c08875160a721a9ac67acb6d60ecbf8ec824102993fd9b37e81ac54f","first_computed_at":"2026-07-05T09:38:05.786344Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T09:38:05.786344Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"VwDrwfDB50c5/fvhhr7zR+VseLPJugfhIQFExLSZaLbYthP7EhDVFLtG1sJCbualy/IWoJJgXli9Va/QgTenDw==","signature_status":"signed_v1","signed_at":"2026-07-05T09:38:05.786717Z","signed_message":"canonical_sha256_bytes"},"source_id":"2411.13148","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6bcdebdb8dcd4dedcacf33bc741a03502368103c4d57024e8bca63fe1968c255","sha256:bd8a0cbfaf24bd46e39dc17db710f90a1b58a216e58f70a101c486434ebcfb33"],"state_sha256":"4aef906b705cbf36137400be1c33a526a854521e3afa6b46beb9cba53a1cfefe"}