{"_canonicalization":{"envelope_id":"axm_ + sha256(envelope minus {signature, axiom_id, anchors})","envelope_signature":"ed25519(envelope minus {signature, axiom_id})","json":"sort_keys=True, separators=(',',':'), ensure_ascii=False, allow_nan=False, utf-8","leaf_hash":"sha256(0x00 || canonical_json(envelope_full))","seal_signature":"ed25519(seal minus {signature, sig_algorithm})"},"axiom_id":"axm_d3af5920d0403c0627dff93cd3d9dceb81735a29f80b386f85d6ef02ec674ec9","bitcoin_anchor":{"bitcoin_attestations":[],"calendar_attestations":[],"ots_url":"","stamped_at":"","status":"pending_next_stamp"},"envelope":{"anchors":[{"chain":"crovia.axiom_graph","height":0,"merkle_proof":"spider_vendor_press_v1","root_at_anchor":"spider_vendor_press_v1"}],"axiom_id":"axm_d3af5920d0403c0627dff93cd3d9dceb81735a29f80b386f85d6ef02ec674ec9","axiom_type":"AX.OBS","body":{"axiom_subtype":"news.vendor_press.v1","category":"news","fingerprint":"fabc789d273b5a22e63d6459c84720fcfeb5ad6182bd209808890cc8a59a5f26","published":"Mon, 29 Jun 2026 00:00:00 -0400","receipt_hash":"fabc789d273b5a22e63d6459c84720fcfeb5ad6182bd209808890cc8a59a5f26","schema":"spider.news.vendor_press.v1","spider":"vendor_press","spider_record":{"axiom_subtype":"news.vendor_press.v1","category":"news","decision_hint":"POSITIVE","envelope_target":"AX.OBS","fingerprint":"fabc789d273b5a22e63d6459c84720fcfeb5ad6182bd209808890cc8a59a5f26","observed_at":"2026-06-29T04:44:03.414425Z","parent_run_hash":"36b5ab5c57ae76dc9e1a863501c4d38f172868cfae31b4ba5baf3caffaafb2c4","published":"Mon, 29 Jun 2026 00:00:00 -0400","runtime_version":"0.1.0","schema":"spider.news.vendor_press.v1","source_status":200,"source_url":"https://export.arxiv.org/rss/cs.AI","spider":"vendor_press","summary_excerpt":"arXiv:2606.28323v1 Announce Type: cross \nAbstract: Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an existing manipulation skill often imposes conflicting demands on overlapping fingers and contact modes, causing destructive interference between preserving an existing manipulation outcome and executing a new one. We propose DexCompose, a role-aware residual composition framework that reuses pretrained dexterous policies for multi-task manipulation through explicit finger-level action ownership. Given two pretrained full-hand policies, DexCompose first collects successful post-task states from the first skill and performs release tests over candidate finger masks to identify which fingers are necessary for maintaining the established skill state. It then trains two asymmetric residual modules: a bounded residual stabilizer for task preservation, and a context-aw","title":"DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand","url":"https://arxiv.org/abs/2606.28323","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.28323v1 Announce Type: cross \nAbstract: Dexterous manipulation policies can solve individual skills, but composing them to perform multiple tasks with a single hand remains challenging. Adding a new task on top of an existing manipulation skill often imposes conflicting demands on overlapping fingers and contact modes, causing destructive interference between preserving an existing manipulation outcome and executing a new one. We propose DexCompose, a role-aware residual composition framework that reuses pretrained dexterous policies for multi-task manipulation through explicit finger-level action ownership. Given two pretrained full-hand policies, DexCompose first collects successful post-task states from the first skill and performs release tests over candidate finger masks to identify which fingers are necessary for maintaining the established skill state. It then trains two asymmetric residual modules: a bounded residual stabilizer for task preservation, and a context-aw","title":"DexCompose: Reusing Dexterous Policies for Multi-Task Manipulation with a Single Hand","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-29T04:44:03Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.28323"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:e2e0c21bacef4bf2a317c0d8471a4d268477c7b31cb2494841a71f439ebc67fde5ddcc91f4612740f8742ce089c14607a33679703cc5f775cf824d8bd2a30b06","signer":"crovia.substrate","subject":{"observed_at":"2026-06-29T04:44:03Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.28323"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"725d936a35bfe29a21f464fdff1d6f60d33082313cc8b3887ee1f1946a69f49a","leaf_index":261445,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"1d8cbfe01c5b4e906bd276ae2298f8e6e9fd632f15ab10e1a1046571d487cce0","side":"left"},{"sibling":"3a541b67fa030ad7ce14a225c5d8c1c48c5da22990e419fb1052e3f926536e71","side":"right"},{"sibling":"8fba0d04612d3bc7762913d0bcf9c865e0c085ec2ad13c087a2d1b242b650540","side":"left"},{"sibling":"5c46550a3d8a6b933d6890f15c68c397d3957784cb166445312eaf6d0e5cd56d","side":"right"},{"sibling":"b14634321bd4e6143c44cc26a6933b5e4af91fdff153839239c38982d8bec179","side":"right"},{"sibling":"6964c7fbbb2e4940d0c2ddfcfef79a2a9e7d53aa2f229440f53a7577177c532e","side":"right"},{"sibling":"a600c67ab28d0232fe4727e4641fc665bde749779b50edf849b1a9c8287bc809","side":"left"},{"sibling":"4b4bda5fa1fb23989b8f6f192c36dadc8266c378c69d42945af35c9d6ab81a10","side":"right"},{"sibling":"6d1df65d14253ed3a13c03e25aa9adcd9a091d8062a82e8586bcaee74013b90e","side":"left"},{"sibling":"9f9daa9d12e65b219f34c92aec45450536b79a42b8892050d66961432ae28ed1","side":"right"},{"sibling":"b5725d7b0807dc6da32d9788f20057fa8726be38d30a9ebdabc605ae92739122","side":"left"},{"sibling":"e321b2cac14cbe28f76ccb7938249a40ff60cd5d2128b5634be046ea10e984b8","side":"left"},{"sibling":"5900dc6c7d13855af9d0385baf1691ec386df33e450c422af1cabe0a36e40ad8","side":"left"},{"sibling":"ae636ddee98c71ab7a7dc55ddfab70c7f710a2b6abfdf7a8b5d16a4017d1c0d1","side":"left"},{"sibling":"f29798d8bb6aa9900eab878992d9ff0c53266debd87472f31ab26a6a3fb55880","side":"left"},{"sibling":"a04392fb9f2a3a620840e3b3fecd93d12e6d224e481c162389d8ae64e7194599","side":"left"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":261662,"merkle_root":"aa8865c239aa2eb6c8aa7c6250f56b3cd5709854a8a07f6a29eb4ddd8802cb6f","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260629T053701Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-29T05:38:02Z","sig_algorithm":"ed25519","signature":"476329233e82fb35fba2552ddc5d1d75b2bdd8513bbd281e9c40a0b8e475df374a62dcd8b456b0c5e8815984f5b4bf0983ae95d2cf4d7412ebb13a433b933c0a","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_d3af5920d0403c0627dff93cd3d9dceb81735a29f80b386f85d6ef02ec674ec9"}}