{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:XYBT2ANJSUIJMNHL37DIQ4UTK4","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":"d235f78337acd7861710b9c0549296feb7eccfba2dbb6a3d90049dcb07c61387","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T08:22:46Z","title_canon_sha256":"71e1b1bcdd1dc0098af775d1d9c9437258e199fdf06779381a03ad4f982f7e11"},"schema_version":"1.0","source":{"id":"2506.16822","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2506.16822","created_at":"2026-07-05T11:24:43Z"},{"alias_kind":"arxiv_version","alias_value":"2506.16822v1","created_at":"2026-07-05T11:24:43Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2506.16822","created_at":"2026-07-05T11:24:43Z"},{"alias_kind":"pith_short_12","alias_value":"XYBT2ANJSUIJ","created_at":"2026-07-05T11:24:43Z"},{"alias_kind":"pith_short_16","alias_value":"XYBT2ANJSUIJMNHL","created_at":"2026-07-05T11:24:43Z"},{"alias_kind":"pith_short_8","alias_value":"XYBT2ANJ","created_at":"2026-07-05T11:24:43Z"}],"graph_snapshots":[{"event_id":"sha256:8d547d19cadd8641a5cfffcb6a17a5f40d955cf85d40906e235e350e2aeab85f","target":"graph","created_at":"2026-07-05T11:24:43Z","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/2506.16822/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Object handover is an important skill that we use daily when interacting with other humans. To deploy robots in collaborative setting, like houses, being able to receive and handing over objects safely and efficiently becomes a crucial skill. In this work, we demonstrate the use of Reinforcement Learning (RL) for dexterous object handover between two multi-finger hands. Key to this task is the use of a novel reward function based on dual quaternions to minimize the rotation distance, which outperforms other rotation representations such as Euler and rotation matrices. The robustness of the tra","authors_text":"Daniel Frau-Alfaro, Julio Casta\\~no-Amoros, Pablo Gil, Roberto Calandra, Santiago Puente","cross_cats":["cs.AI"],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T08:22:46Z","title":"Learning Dexterous Object Handover"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2506.16822","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:a0bf4186e28ee84479ff02dcd43feb1450f824da73a7ddbdcfcc9a17e8044b4e","target":"record","created_at":"2026-07-05T11:24:43Z","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":"d235f78337acd7861710b9c0549296feb7eccfba2dbb6a3d90049dcb07c61387","cross_cats_sorted":["cs.AI"],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-06-20T08:22:46Z","title_canon_sha256":"71e1b1bcdd1dc0098af775d1d9c9437258e199fdf06779381a03ad4f982f7e11"},"schema_version":"1.0","source":{"id":"2506.16822","kind":"arxiv","version":1}},"canonical_sha256":"be033d01a995109634ebdfc688729357390aeb29c8039287c407bc8dab1a274c","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"be033d01a995109634ebdfc688729357390aeb29c8039287c407bc8dab1a274c","first_computed_at":"2026-07-05T11:24:43.497565Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:24:43.497565Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"6h2QPj3bFUjLr60z13kIQpNJIC5uVpeeloaXhV4FVzkBWf94A+psqgmnvv4edVmmah/fBRMDg3lJ9Z2C1QKeAg==","signature_status":"signed_v1","signed_at":"2026-07-05T11:24:43.497980Z","signed_message":"canonical_sha256_bytes"},"source_id":"2506.16822","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:a0bf4186e28ee84479ff02dcd43feb1450f824da73a7ddbdcfcc9a17e8044b4e","sha256:8d547d19cadd8641a5cfffcb6a17a5f40d955cf85d40906e235e350e2aeab85f"],"state_sha256":"ea7ee591dac42cbfd26ed388caa1ff909c17dcd5c56a898714f76869891653a4"}