{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2026:ZUPL7YIPLK2W5KWSQPQT7DUD2T","short_pith_number":"pith:ZUPL7YIP","schema_version":"1.0","canonical_sha256":"cd1ebfe10f5ab56eaad283e13f8e83d4c45357f5b30e23b67e51ccbc6016cea8","source":{"kind":"arxiv","id":"2606.05699","version":1},"attestation_state":"computed","paper":{"title":"DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dwait Bhatt, Keito Suzuki, Ki Myung Brian Lee, Kuang-Ting Tu, Nikola Raicevic, Nikolay Atanasov, Runfa Blark Li, Truong Nguyen, Xinshuang Liu","submitted_at":"2026-06-04T04:37:23Z","abstract_excerpt":"Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control policies depend on future configuration references provided from demonstrations, while future action-conditioned world models require slow online planning over high-dimensional action sequences. A significant challenge is generating a dynamically consistent future reference trajectory without relying on privileged states from demonstrations or slow counterfactual planning. We propose DexFuture, a hierarchical system that"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2606.05699","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2026-06-04T04:37:23Z","cross_cats_sorted":[],"title_canon_sha256":"450b0014ef7d09fd2c8876078de454752c751b71b514588561935e41a21de877","abstract_canon_sha256":"829ec59b3fc77ab6edead31102506af3d802c09719f4c939574a030ac95d444e"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-06-05T01:14:59.680728Z","signature_b64":"gYfSB+N+42UwIhzi9T89YgJEtZ9+BzrKF81sPd2fAp+dll0F4k3t6bBQd75on047u3Tcg2/b66vlA5+zlk2VAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"cd1ebfe10f5ab56eaad283e13f8e83d4c45357f5b30e23b67e51ccbc6016cea8","last_reissued_at":"2026-06-05T01:14:59.680229Z","signature_status":"signed_v1","first_computed_at":"2026-06-05T01:14:59.680229Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"DexFuture: Hierarchical Future-State Visuomotor Targeting for Bimanual Dexterous Tool Use","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dwait Bhatt, Keito Suzuki, Ki Myung Brian Lee, Kuang-Ting Tu, Nikola Raicevic, Nikolay Atanasov, Runfa Blark Li, Truong Nguyen, Xinshuang Liu","submitted_at":"2026-06-04T04:37:23Z","abstract_excerpt":"Bimanual dexterous tool use remains challenging for robots due to high-dimensional hand configurations and complex hand-tool-object dynamics and contact. Most existing control policies depend on future configuration references provided from demonstrations, while future action-conditioned world models require slow online planning over high-dimensional action sequences. A significant challenge is generating a dynamically consistent future reference trajectory without relying on privileged states from demonstrations or slow counterfactual planning. We propose DexFuture, a hierarchical system that"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.05699","kind":"arxiv","version":1},"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/2606.05699/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2606.05699","created_at":"2026-06-05T01:14:59.680321+00:00"},{"alias_kind":"arxiv_version","alias_value":"2606.05699v1","created_at":"2026-06-05T01:14:59.680321+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2606.05699","created_at":"2026-06-05T01:14:59.680321+00:00"},{"alias_kind":"pith_short_12","alias_value":"ZUPL7YIPLK2W","created_at":"2026-06-05T01:14:59.680321+00:00"},{"alias_kind":"pith_short_16","alias_value":"ZUPL7YIPLK2W5KWS","created_at":"2026-06-05T01:14:59.680321+00:00"},{"alias_kind":"pith_short_8","alias_value":"ZUPL7YIP","created_at":"2026-06-05T01:14:59.680321+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T","json":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T.json","graph_json":"https://pith.science/api/pith-number/ZUPL7YIPLK2W5KWSQPQT7DUD2T/graph.json","events_json":"https://pith.science/api/pith-number/ZUPL7YIPLK2W5KWSQPQT7DUD2T/events.json","paper":"https://pith.science/paper/ZUPL7YIP"},"agent_actions":{"view_html":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T","download_json":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T.json","view_paper":"https://pith.science/paper/ZUPL7YIP","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2606.05699&json=true","fetch_graph":"https://pith.science/api/pith-number/ZUPL7YIPLK2W5KWSQPQT7DUD2T/graph.json","fetch_events":"https://pith.science/api/pith-number/ZUPL7YIPLK2W5KWSQPQT7DUD2T/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T/action/storage_attestation","attest_author":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T/action/author_attestation","sign_citation":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T/action/citation_signature","submit_replication":"https://pith.science/pith/ZUPL7YIPLK2W5KWSQPQT7DUD2T/action/replication_record"}},"created_at":"2026-06-05T01:14:59.680321+00:00","updated_at":"2026-06-05T01:14:59.680321+00:00"}