{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:ZHQMUOIPMAPG5ZKFCHFHKJUDXK","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":"21ef43ce0e11cc23e4d00fc172817e502eedec9d7f6dc698dda952a1f684194c","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-20T07:25:27Z","title_canon_sha256":"94e718b478d8a0b0c298833560daa386debd15369bc1f5101995489042236fb0"},"schema_version":"1.0","source":{"id":"2305.12127","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.12127","created_at":"2026-07-05T06:12:06Z"},{"alias_kind":"arxiv_version","alias_value":"2305.12127v1","created_at":"2026-07-05T06:12:06Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.12127","created_at":"2026-07-05T06:12:06Z"},{"alias_kind":"pith_short_12","alias_value":"ZHQMUOIPMAPG","created_at":"2026-07-05T06:12:06Z"},{"alias_kind":"pith_short_16","alias_value":"ZHQMUOIPMAPG5ZKF","created_at":"2026-07-05T06:12:06Z"},{"alias_kind":"pith_short_8","alias_value":"ZHQMUOIP","created_at":"2026-07-05T06:12:06Z"}],"graph_snapshots":[{"event_id":"sha256:b75b75204722088bf04d21ba2b21f01c6e504fb7e3338969a5f5b345e6dfcb43","target":"graph","created_at":"2026-07-05T06:12:06Z","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/2305.12127/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this work, we propose algorithms and methods that enable learning dexterous object manipulation using simulated one- or two-armed robots equipped with multi-fingered hand end-effectors. Using a parallel GPU-accelerated physics simulator (Isaac Gym), we implement challenging tasks for these robots, including regrasping, grasp-and-throw, and object reorientation. To solve these problems we introduce a decentralized Population-Based Training (PBT) algorithm that allows us to massively amplify the exploration capabilities of deep reinforcement learning. We find that this method significantly ou","authors_text":"Aleksei Petrenko, Ankur Handa, Arthur Allshire, Gavriel State, Viktor Makoviychuk","cross_cats":["cs.AI"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-20T07:25:27Z","title":"DexPBT: Scaling up Dexterous Manipulation for Hand-Arm Systems with Population Based Training"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.12127","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":"sha256:7fd5e3c780f36d5487e40c4b231a8fc99dbf502ffc1ecdaa164f505346838b47","target":"record","created_at":"2026-07-05T06:12:06Z","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":"21ef43ce0e11cc23e4d00fc172817e502eedec9d7f6dc698dda952a1f684194c","cross_cats_sorted":["cs.AI"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-20T07:25:27Z","title_canon_sha256":"94e718b478d8a0b0c298833560daa386debd15369bc1f5101995489042236fb0"},"schema_version":"1.0","source":{"id":"2305.12127","kind":"arxiv","version":1}},"canonical_sha256":"c9e0ca390f601e6ee54511ca752683ba9dc36b99292b976de633bc8419ad1176","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"c9e0ca390f601e6ee54511ca752683ba9dc36b99292b976de633bc8419ad1176","first_computed_at":"2026-07-05T06:12:06.750651Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:12:06.750651Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"24R0ARDJiTyKkGgcoIkmVHQ4fQyA5QHmqbxXZQJMLDmslQcfbTyo4b4S4w9SsitTyT3U5aBwKVbR0GMM1PPoDg==","signature_status":"signed_v1","signed_at":"2026-07-05T06:12:06.751044Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.12127","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7fd5e3c780f36d5487e40c4b231a8fc99dbf502ffc1ecdaa164f505346838b47","sha256:b75b75204722088bf04d21ba2b21f01c6e504fb7e3338969a5f5b345e6dfcb43"],"state_sha256":"6f1f4c71255409fd5adb2184f8e92bdf2463a8ed20258761aef28c197f3ffa21"}