{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2023:ZRL7AXVRNQ63H3SCBDKXW6O6VA","short_pith_number":"pith:ZRL7AXVR","canonical_record":{"source":{"id":"2309.03891","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-07T17:53:20Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"43e6c0aefca0f77b66b64ea04bb4de15b0725e20b36e69e16080099f29caaeb0","abstract_canon_sha256":"03bfd4f546ed680785ea219b79ed9f01ce76befdbf316249e2a66c77285bf237"},"schema_version":"1.0"},"canonical_sha256":"cc57f05eb16c3db3ee4208d57b79dea833e696cab42acb4d2aec1342e3381abf","source":{"kind":"arxiv","id":"2309.03891","version":2},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.03891","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"arxiv_version","alias_value":"2309.03891v2","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.03891","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_12","alias_value":"ZRL7AXVRNQ63","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_16","alias_value":"ZRL7AXVRNQ63H3SC","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_8","alias_value":"ZRL7AXVR","created_at":"2026-07-05T07:51:32Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2023:ZRL7AXVRNQ63H3SCBDKXW6O6VA","target":"record","payload":{"canonical_record":{"source":{"id":"2309.03891","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-07T17:53:20Z","cross_cats_sorted":["cs.CV","cs.LG"],"title_canon_sha256":"43e6c0aefca0f77b66b64ea04bb4de15b0725e20b36e69e16080099f29caaeb0","abstract_canon_sha256":"03bfd4f546ed680785ea219b79ed9f01ce76befdbf316249e2a66c77285bf237"},"schema_version":"1.0"},"canonical_sha256":"cc57f05eb16c3db3ee4208d57b79dea833e696cab42acb4d2aec1342e3381abf","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T07:51:32.024439Z","signature_b64":"Znew28hNpDgvAjmefGWy55+dsn35eiLFiLGBoUOwj4/iI26qDF8vMJsxDRogYqJaGpNwOVtU4RFx5u7U3cN4DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cc57f05eb16c3db3ee4208d57b79dea833e696cab42acb4d2aec1342e3381abf","last_reissued_at":"2026-07-05T07:51:32.024016Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T07:51:32.024016Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2309.03891","source_version":2,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T07:51:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Lj/y1naeyJG75u+hqy2ZEKI4WYhTv5MCDY3DUpa41Q5RUZ/YKZIAMQ9UtJpY/YRuUijYib8gNpQhLi9w1YmaAw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-25T09:07:02.926433Z"},"content_sha256":"e0db69a897c67b0ff0040c5c2305a8836e21cbdce837a3e4df7f3788a85f3467","schema_version":"1.0","event_id":"sha256:e0db69a897c67b0ff0040c5c2305a8836e21cbdce837a3e4df7f3788a85f3467"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2023:ZRL7AXVRNQ63H3SCBDKXW6O6VA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.CV","cs.LG"],"primary_cat":"cs.RO","authors_text":"Hui Zhang, Jemin Hwangbo, Jie Song, Luocheng Zheng, Otmar Hilliges, Sammy Christen, Zicong Fan","submitted_at":"2023-09-07T17:53:20Z","abstract_excerpt":"We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are necessary to articulate objects. ArtiGrasp leverages reinforcement learning and physics simulations to train a policy that controls the global and local hand pose. Our framework unifies grasping and articulation within a single policy guided by a single hand pose reference. Moreover, to facilitate the training of the precise finger control required for artic"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.03891","kind":"arxiv","version":2},"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/2309.03891/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":"2026-07-05T07:51:32Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Yg3WgDRDVwY1iM+BAEdniNOUd/WvUFMW073Aqpyhhgln8oCUwZ2kkh9X4KNMYtI2St5xewb/qUjKF1wSrcmVDA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-07-25T09:07:02.926827Z"},"content_sha256":"6d3ca9c059ea8615dfab2c7291fd3fe8899a86133a5c73999a0d939bdf886f06","schema_version":"1.0","event_id":"sha256:6d3ca9c059ea8615dfab2c7291fd3fe8899a86133a5c73999a0d939bdf886f06"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/bundle.json","state_url":"https://pith.science/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/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":"2026-07-25T09:07:02Z","links":{"resolver":"https://pith.science/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA","bundle":"https://pith.science/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/bundle.json","state":"https://pith.science/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/ZRL7AXVRNQ63H3SCBDKXW6O6VA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:ZRL7AXVRNQ63H3SCBDKXW6O6VA","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":"03bfd4f546ed680785ea219b79ed9f01ce76befdbf316249e2a66c77285bf237","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-07T17:53:20Z","title_canon_sha256":"43e6c0aefca0f77b66b64ea04bb4de15b0725e20b36e69e16080099f29caaeb0"},"schema_version":"1.0","source":{"id":"2309.03891","kind":"arxiv","version":2}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2309.03891","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"arxiv_version","alias_value":"2309.03891v2","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2309.03891","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_12","alias_value":"ZRL7AXVRNQ63","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_16","alias_value":"ZRL7AXVRNQ63H3SC","created_at":"2026-07-05T07:51:32Z"},{"alias_kind":"pith_short_8","alias_value":"ZRL7AXVR","created_at":"2026-07-05T07:51:32Z"}],"graph_snapshots":[{"event_id":"sha256:6d3ca9c059ea8615dfab2c7291fd3fe8899a86133a5c73999a0d939bdf886f06","target":"graph","created_at":"2026-07-05T07:51:32Z","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/2309.03891/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"We present ArtiGrasp, a novel method to synthesize bi-manual hand-object interactions that include grasping and articulation. This task is challenging due to the diversity of the global wrist motions and the precise finger control that are necessary to articulate objects. ArtiGrasp leverages reinforcement learning and physics simulations to train a policy that controls the global and local hand pose. Our framework unifies grasping and articulation within a single policy guided by a single hand pose reference. Moreover, to facilitate the training of the precise finger control required for artic","authors_text":"Hui Zhang, Jemin Hwangbo, Jie Song, Luocheng Zheng, Otmar Hilliges, Sammy Christen, Zicong Fan","cross_cats":["cs.CV","cs.LG"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-07T17:53:20Z","title":"ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2309.03891","kind":"arxiv","version":2},"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:e0db69a897c67b0ff0040c5c2305a8836e21cbdce837a3e4df7f3788a85f3467","target":"record","created_at":"2026-07-05T07:51:32Z","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":"03bfd4f546ed680785ea219b79ed9f01ce76befdbf316249e2a66c77285bf237","cross_cats_sorted":["cs.CV","cs.LG"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-09-07T17:53:20Z","title_canon_sha256":"43e6c0aefca0f77b66b64ea04bb4de15b0725e20b36e69e16080099f29caaeb0"},"schema_version":"1.0","source":{"id":"2309.03891","kind":"arxiv","version":2}},"canonical_sha256":"cc57f05eb16c3db3ee4208d57b79dea833e696cab42acb4d2aec1342e3381abf","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"cc57f05eb16c3db3ee4208d57b79dea833e696cab42acb4d2aec1342e3381abf","first_computed_at":"2026-07-05T07:51:32.024016Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T07:51:32.024016Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Znew28hNpDgvAjmefGWy55+dsn35eiLFiLGBoUOwj4/iI26qDF8vMJsxDRogYqJaGpNwOVtU4RFx5u7U3cN4DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T07:51:32.024439Z","signed_message":"canonical_sha256_bytes"},"source_id":"2309.03891","source_kind":"arxiv","source_version":2}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e0db69a897c67b0ff0040c5c2305a8836e21cbdce837a3e4df7f3788a85f3467","sha256:6d3ca9c059ea8615dfab2c7291fd3fe8899a86133a5c73999a0d939bdf886f06"],"state_sha256":"85b6039d71bd81b93b615dda0cabb2ed06f7bab927a48ef9084306ff7f217afc"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"7AWgfuZhMcMjQaXraRPX+FrmRCa/qfsaXnb3Ya/NehDzweQsnlWN//2zmvHU26er/JZexDUYJwnmf4dSagOOBg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-07-25T09:07:02.930164Z","bundle_sha256":"4c584fc5c6665bb7480aea5bfea1ba1d3de1c24afe68f5fdad23c5a52e2b1089"}}