{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:RXSA73PEWVIYZTNZLREHG7XHF7","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":"954c04fd6a87b1185842f81a5d2f815c63dfcb06ad9a8bc12c29ea587267fab5","cross_cats_sorted":["cs.AI","cs.GR","cs.HC","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T17:10:21Z","title_canon_sha256":"06989a2d99c2150247896ccefbcae529501fdf87807fd3b5c64b60b033287e7f"},"schema_version":"1.0","source":{"id":"2503.07541","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2503.07541","created_at":"2026-07-05T10:28:06Z"},{"alias_kind":"arxiv_version","alias_value":"2503.07541v1","created_at":"2026-07-05T10:28:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.07541","created_at":"2026-07-05T10:28:06Z"},{"alias_kind":"pith_short_12","alias_value":"RXSA73PEWVIY","created_at":"2026-07-05T10:28:06Z"},{"alias_kind":"pith_short_16","alias_value":"RXSA73PEWVIYZTNZ","created_at":"2026-07-05T10:28:06Z"},{"alias_kind":"pith_short_8","alias_value":"RXSA73PE","created_at":"2026-07-05T10:28:06Z"}],"graph_snapshots":[{"event_id":"sha256:90ef19b398ef15d3281a9b63fa1dbff5dfd40179e6fb61dc4d72c1b1ea3d41e5","target":"graph","created_at":"2026-07-05T10:28:06Z","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/2503.07541/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We introduce Geometric Retargeting (GeoRT), an ultrafast, and principled neural hand retargeting algorithm for teleoperation, developed as part of our recent Dexterity Gen (DexGen) system. GeoRT converts human finger keypoints to robot hand keypoints at 1KHz, achieving state-of-the-art speed and accuracy with significantly fewer hyperparameters. This high-speed capability enables flexible postprocessing, such as leveraging a foundational controller for action correction like DexGen. GeoRT is trained in an unsupervised manner, eliminating the need for manual annotation of hand pairs. The core o","authors_text":"Changhao Wang, Krishna Bodduluri, Luis Pineda, Mustafa Mukadam, Pieter Abbeel, Tingfan Wu, Zhao-Heng Yin","cross_cats":["cs.AI","cs.GR","cs.HC","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T17:10:21Z","title":"Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.07541","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":"sha256:635e314436e9d74df45a817f52f86755067f2debb43b21996abb6430c36b1725","target":"record","created_at":"2026-07-05T10:28:06Z","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":"954c04fd6a87b1185842f81a5d2f815c63dfcb06ad9a8bc12c29ea587267fab5","cross_cats_sorted":["cs.AI","cs.GR","cs.HC","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-10T17:10:21Z","title_canon_sha256":"06989a2d99c2150247896ccefbcae529501fdf87807fd3b5c64b60b033287e7f"},"schema_version":"1.0","source":{"id":"2503.07541","kind":"arxiv","version":1}},"canonical_sha256":"8de40fede4b5518ccdb95c48737ee72fe199cb0011a59d16fb40a74d387589eb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8de40fede4b5518ccdb95c48737ee72fe199cb0011a59d16fb40a74d387589eb","first_computed_at":"2026-07-05T10:28:06.673424Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:28:06.673424Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6I18EEVH0IDuLhxMMcSpkenay/FYaLFXq84cMPGdUXc2upxRkqplt0sfMIrcpxlZ68hlrATAnnQPrOvo52mBDA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:28:06.674255Z","signed_message":"canonical_sha256_bytes"},"source_id":"2503.07541","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:635e314436e9d74df45a817f52f86755067f2debb43b21996abb6430c36b1725","sha256:90ef19b398ef15d3281a9b63fa1dbff5dfd40179e6fb61dc4d72c1b1ea3d41e5"],"state_sha256":"317fb4056be31683fdd7803712eaf2479bfebe17cf205778ad6d1d889a7c7a30"}