{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2022:SASPEULRIYSLZYVHDFFFDA44M4","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":"20cfcb1848ceb0e1f9b097a006a25ea018c2550ca2c971b5e23fdef27a71af74","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-11T17:59:50Z","title_canon_sha256":"b7173ee73b13c2d8fe7d3ed4f2df70a5c9a9b5a75dfe2e1d0c026c8e713b10eb"},"schema_version":"1.0","source":{"id":"2207.05053","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2207.05053","created_at":"2026-07-05T08:05:46Z"},{"alias_kind":"arxiv_version","alias_value":"2207.05053v3","created_at":"2026-07-05T08:05:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2207.05053","created_at":"2026-07-05T08:05:46Z"},{"alias_kind":"pith_short_12","alias_value":"SASPEULRIYSL","created_at":"2026-07-05T08:05:46Z"},{"alias_kind":"pith_short_16","alias_value":"SASPEULRIYSLZYVH","created_at":"2026-07-05T08:05:46Z"},{"alias_kind":"pith_short_8","alias_value":"SASPEULR","created_at":"2026-07-05T08:05:46Z"}],"graph_snapshots":[{"event_id":"sha256:70bbd8828e575d25bf448179ab316f0b30abef2e0c325492c791b845cf02cc6f","target":"graph","created_at":"2026-07-05T08:05:46Z","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/2207.05053/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We propose to learn to generate grasping motion for manipulation with a dexterous hand using implicit functions. With continuous time inputs, the model can generate a continuous and smooth grasping plan. We name the proposed model Continuous Grasping Function (CGF). CGF is learned via generative modeling with a Conditional Variational Autoencoder using 3D human demonstrations. We will first convert the large-scale human-object interaction trajectories to robot demonstrations via motion retargeting, and then use these demonstrations to train CGF. During inference, we perform sampling with CGF t","authors_text":"Binghao Huang, Jianglong Ye, Jiashun Wang, Xiaolong Wang, Yuzhe Qin","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-11T17:59:50Z","title":"Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrations"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2207.05053","kind":"arxiv","version":3},"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:ea7da3274c8efd745370c161ce3f7070065e5089b35acf6c2b810597a19177f2","target":"record","created_at":"2026-07-05T08:05:46Z","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":"20cfcb1848ceb0e1f9b097a006a25ea018c2550ca2c971b5e23fdef27a71af74","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2022-07-11T17:59:50Z","title_canon_sha256":"b7173ee73b13c2d8fe7d3ed4f2df70a5c9a9b5a75dfe2e1d0c026c8e713b10eb"},"schema_version":"1.0","source":{"id":"2207.05053","kind":"arxiv","version":3}},"canonical_sha256":"9024f251714624bce2a7194a51839c671b04d4b21e232dde26313dad34095730","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9024f251714624bce2a7194a51839c671b04d4b21e232dde26313dad34095730","first_computed_at":"2026-07-05T08:05:46.738253Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:05:46.738253Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"CXAdhs2l325CA6AIayGlhts48Wo+vUbRRrvN/VzXxYhf2Ka7dp1ZUm2Ctzc3V3YF9Bad+rO4rc751otW9opnDw==","signature_status":"signed_v1","signed_at":"2026-07-05T08:05:46.738719Z","signed_message":"canonical_sha256_bytes"},"source_id":"2207.05053","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ea7da3274c8efd745370c161ce3f7070065e5089b35acf6c2b810597a19177f2","sha256:70bbd8828e575d25bf448179ab316f0b30abef2e0c325492c791b845cf02cc6f"],"state_sha256":"57268cd7d9e504615008f2fe4b7b9e5da7379acfa6e4bbcc963d38b328f72b17"}