Pith Number

pith:XUTPNABU

pith:2026:XUTPNABUFOTKFRA3QKGKOGO35T

not attested not anchored not stored refs pending

HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping

Byungjun Kim, Hanbyul Joo, Jisoo Kim, Jongbin Lim, Mingi Choi, Subin Jeon, Taeyun Ha

HRDexDB supplies aligned human and robotic dexterous grasp sequences on the same 100 objects with synchronized 3D motion, tactile, and video data.

arxiv:2604.14944 v2 · 2026-04-16 · cs.RO · cs.CV

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\usepackage{pith}
\pithnumber{XUTPNABUFOTKFRA3QKGKOGO35T}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

By providing closely aligned captures of human dexterity and robotic execution on the same target objects under comparable grasping motions, HRDexDB serves as a foundational benchmark for multi-modal policy learning and cross-domain dexterous manipulation.

C2weakest assumption

The new multi-camera system and state-of-the-art vision methods produce sufficiently high-precision, synchronized 3D ground-truth and tactile signals that are free of significant artifacts or domain gaps between human and robot captures.

C3one line summary

HRDexDB is a multi-modal dataset of 1.4K human and robotic dexterous grasps across 100 objects, providing aligned 3D kinematics, high-resolution tactile data, and video streams.

Receipt and verification

First computed	2026-06-23T01:12:07.239595Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

bd26f680342ba6a2c41b828ca719dbecf2a20ad3feb25b7dd179ff89d54057e4

Aliases

arxiv: 2604.14944 · arxiv_version: 2604.14944v2 · doi: 10.48550/arxiv.2604.14944 · pith_short_12: XUTPNABUFOTK · pith_short_16: XUTPNABUFOTKFRA3 · pith_short_8: XUTPNABU

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/XUTPNABUFOTKFRA3QKGKOGO35T \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: bd26f680342ba6a2c41b828ca719dbecf2a20ad3feb25b7dd179ff89d54057e4

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "4aedd87738cec7b7bb89bd049c11b65ae79d54eea6e29bb79cb0a7e1ac853ef6",
    "cross_cats_sorted": [
      "cs.CV"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-04-16T12:38:14Z",
    "title_canon_sha256": "9385e516eb0cce650b760ea63697aabdaab9b74e023bcdadc4354d4051972269"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.14944",
    "kind": "arxiv",
    "version": 2
  }
}