{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2026:V756AH4FY4Q3PSFXSXTYIMAS45","short_pith_number":"pith:V756AH4F","canonical_record":{"source":{"id":"2602.05513","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-05T10:13:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"bf46218b85972ac89ce810b4f48a4e6e6c8f3989571cf1b8be28343b3713fe2d","abstract_canon_sha256":"34f72e31c33fdd38cefcfdd693724deeccc7059bd21ffc2c220f6d60893b2fd2"},"schema_version":"1.0"},"canonical_sha256":"affbe01f85c721b7c8b795e7843012e752c14a7a2ab6ed78192d939868a821de","source":{"kind":"arxiv","id":"2602.05513","version":3},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.05513","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"arxiv_version","alias_value":"2602.05513v3","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.05513","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_12","alias_value":"V756AH4FY4Q3","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_16","alias_value":"V756AH4FY4Q3PSFX","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_8","alias_value":"V756AH4F","created_at":"2026-07-15T01:20:55Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2026:V756AH4FY4Q3PSFXSXTYIMAS45","target":"record","payload":{"canonical_record":{"source":{"id":"2602.05513","kind":"arxiv","version":3},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-05T10:13:34Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"bf46218b85972ac89ce810b4f48a4e6e6c8f3989571cf1b8be28343b3713fe2d","abstract_canon_sha256":"34f72e31c33fdd38cefcfdd693724deeccc7059bd21ffc2c220f6d60893b2fd2"},"schema_version":"1.0"},"canonical_sha256":"affbe01f85c721b7c8b795e7843012e752c14a7a2ab6ed78192d939868a821de","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-15T01:20:55.292595Z","signature_b64":"xzoODV8FSx8cZLwMstrgX8cQ61uJguQzuhBccrEFa43eRX7xZEWchbTA23PrNwddqNzh9n3v7qjmPgOs4aAEAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"affbe01f85c721b7c8b795e7843012e752c14a7a2ab6ed78192d939868a821de","last_reissued_at":"2026-07-15T01:20:55.291638Z","signature_status":"signed_v1","first_computed_at":"2026-07-15T01:20:55.291638Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2602.05513","source_version":3,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-15T01:20:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"brQ+XLp+Y6aW5BcGm3XPOYzG1N7OaD/7uPX+JGh9JJYxYxHcUahzC8S/Z7HYz3OJBIlSbXQw5Qrzxs00iz8BCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:54:28.040831Z"},"content_sha256":"9ad40df6cf017498ecded03e8b92d1523ca33b855e52de578f4e3e6548d3f309","schema_version":"1.0","event_id":"sha256:9ad40df6cf017498ecded03e8b92d1523ca33b855e52de578f4e3e6548d3f309"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2026:V756AH4FY4Q3PSFXSXTYIMAS45","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Alois Knoll, Bosheng Huang, Guocai Yao, Haojun Jiang, Lei Zhang, Shaoxuan Xie, Xinlong Wang, Xukun Li, Yibo Peng, Yuan Meng, Yu Sun, Zhenguo Sun, Zhenshan Bing","submitted_at":"2026-02-05T10:13:34Z","abstract_excerpt":"Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer that disentangles vision, proprioception, and tactile signals through specialized conditioning pathways, enabling structured and controllable integration of multimodal inputs, with a lightweight adapter for parameter-efficient injection of additional signals. Alongside DECO, we release DECO-50 dataset for bimanual dexterous manipulation with tactile sensing,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.05513","kind":"arxiv","version":3},"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/2602.05513/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":"2026-07-15T01:20:55Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"92MW4primCUMwYBO28KCPd7jpwRBQJuFoXj4idc10rOSvRnPmwcl/DpoylVXO57uPkxKZJibS5Gq9QD33GxpDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-04T15:54:28.077495Z"},"content_sha256":"41b8af8834e5bd720e0347526ce975df65a1ff179e7b29e760000cd7e8fceb8a","schema_version":"1.0","event_id":"sha256:41b8af8834e5bd720e0347526ce975df65a1ff179e7b29e760000cd7e8fceb8a"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/V756AH4FY4Q3PSFXSXTYIMAS45/bundle.json","state_url":"https://pith.science/pith/V756AH4FY4Q3PSFXSXTYIMAS45/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/V756AH4FY4Q3PSFXSXTYIMAS45/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":"2026-08-04T15:54:28Z","links":{"resolver":"https://pith.science/pith/V756AH4FY4Q3PSFXSXTYIMAS45","bundle":"https://pith.science/pith/V756AH4FY4Q3PSFXSXTYIMAS45/bundle.json","state":"https://pith.science/pith/V756AH4FY4Q3PSFXSXTYIMAS45/state.json","well_known_bundle":"https://pith.science/.well-known/pith/V756AH4FY4Q3PSFXSXTYIMAS45/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2026:V756AH4FY4Q3PSFXSXTYIMAS45","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":"34f72e31c33fdd38cefcfdd693724deeccc7059bd21ffc2c220f6d60893b2fd2","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-05T10:13:34Z","title_canon_sha256":"bf46218b85972ac89ce810b4f48a4e6e6c8f3989571cf1b8be28343b3713fe2d"},"schema_version":"1.0","source":{"id":"2602.05513","kind":"arxiv","version":3}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2602.05513","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"arxiv_version","alias_value":"2602.05513v3","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2602.05513","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_12","alias_value":"V756AH4FY4Q3","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_16","alias_value":"V756AH4FY4Q3PSFX","created_at":"2026-07-15T01:20:55Z"},{"alias_kind":"pith_short_8","alias_value":"V756AH4F","created_at":"2026-07-15T01:20:55Z"}],"graph_snapshots":[{"event_id":"sha256:41b8af8834e5bd720e0347526ce975df65a1ff179e7b29e760000cd7e8fceb8a","target":"graph","created_at":"2026-07-15T01:20:55Z","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/2602.05513/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Bimanual dexterous manipulation relies on integrating multimodal inputs to perform complex real-world tasks. To address the challenges of effectively combining these modalities, we propose DECO, a decoupled multimodal diffusion transformer that disentangles vision, proprioception, and tactile signals through specialized conditioning pathways, enabling structured and controllable integration of multimodal inputs, with a lightweight adapter for parameter-efficient injection of additional signals. Alongside DECO, we release DECO-50 dataset for bimanual dexterous manipulation with tactile sensing,","authors_text":"Alois Knoll, Bosheng Huang, Guocai Yao, Haojun Jiang, Lei Zhang, Shaoxuan Xie, Xinlong Wang, Xukun Li, Yibo Peng, Yuan Meng, Yu Sun, Zhenguo Sun, Zhenshan Bing","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-05T10:13:34Z","title":"DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2602.05513","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":"sha256:9ad40df6cf017498ecded03e8b92d1523ca33b855e52de578f4e3e6548d3f309","target":"record","created_at":"2026-07-15T01:20:55Z","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":"34f72e31c33fdd38cefcfdd693724deeccc7059bd21ffc2c220f6d60893b2fd2","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2026-02-05T10:13:34Z","title_canon_sha256":"bf46218b85972ac89ce810b4f48a4e6e6c8f3989571cf1b8be28343b3713fe2d"},"schema_version":"1.0","source":{"id":"2602.05513","kind":"arxiv","version":3}},"canonical_sha256":"affbe01f85c721b7c8b795e7843012e752c14a7a2ab6ed78192d939868a821de","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"affbe01f85c721b7c8b795e7843012e752c14a7a2ab6ed78192d939868a821de","first_computed_at":"2026-07-15T01:20:55.291638Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-15T01:20:55.291638Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"xzoODV8FSx8cZLwMstrgX8cQ61uJguQzuhBccrEFa43eRX7xZEWchbTA23PrNwddqNzh9n3v7qjmPgOs4aAEAw==","signature_status":"signed_v1","signed_at":"2026-07-15T01:20:55.292595Z","signed_message":"canonical_sha256_bytes"},"source_id":"2602.05513","source_kind":"arxiv","source_version":3}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9ad40df6cf017498ecded03e8b92d1523ca33b855e52de578f4e3e6548d3f309","sha256:41b8af8834e5bd720e0347526ce975df65a1ff179e7b29e760000cd7e8fceb8a"],"state_sha256":"ccd96cfc7fb71391fd60c80ded8ec574aec7881241ed9eb261f4f978a275354c"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Kf3+ig3DzUgvAn/I0zltTCmfUIp4iuwGNXKChGTr7mZokMfcKlb/K9vdStZFT/yAq1JtfXW3chrvQFmuyKyUAQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-04T15:54:28.086575Z","bundle_sha256":"1fcdc2294419706753289cb0b9fdfd839a7fb20a1954001a52a2a071b49628c2"}}