{"as_of":"2026-08-20T08:47:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:f9b52442a7b86bd05f33ff3cdbc2682032053a136da41bf9a8a468b53326cd5c","coverage":[{"denominator":0,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":2,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":2,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-20T06:33:59.587034+00:00","state":"measured"},{"denominator":2,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":2,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-05T15:40:36.915787Z","state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"arxiv_reference","source_observed_at":"2026-07-03T05:47:41.667191Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2110.09904","last_updated":"2021-10-20T08:35:13Z","snapshot_observed_at":"2026-08-18T16:31:37.462084Z","submitted_at":"2021-10-19T12:09:02Z","title":"Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2110.09904","snapshot_observed_at":"2026-08-05T15:40:36.915787Z","title":"Learning robotic manipulation skills using an adaptive force-impedance action space,","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2508.19607","last_updated":"2025-08-27T06:43:08Z","snapshot_observed_at":"2026-08-16T18:08:52.800247Z","submitted_at":"2025-08-27T06:43:08Z","title":"Impedance Primitive-augmented Hierarchical Reinforcement Learning for Sequential Tasks","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-08-05T15:40:36.915787Z"},"links":{"cited_paper":"/paper/2110.09904","citing_paper":"/paper/2508.19607"},"observation_digest":"sha256:8b8c2f78136e7924d0e8761b9f770b007b39b1a06f8de7c90ea76c8d547ef41b","observation_id":"a9dc4071-d140-4a2b-94b4-3562595ae40f","resolution":{"observed_at":"2026-08-05T15:40:36.915787Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2110.09904","last_updated":"2021-10-20T08:35:13Z","snapshot_observed_at":"2026-08-18T16:31:37.462084Z","submitted_at":"2021-10-19T12:09:02Z","title":"Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space","version":2},"cited_work":{"arxiv_id":"2110.09904","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2110.09904","snapshot_observed_at":"2026-07-03T05:47:41.667191Z","title":"Ulmer, E","venue":null,"work_id":"7fa53e1a-26c6-41b5-9890-e5556b1c0170","year":2021},"citing_paper":{"arxiv_id":"2606.10818","last_updated":"2026-06-09T13:00:56Z","snapshot_observed_at":"2026-08-12T18:24:05.618476Z","submitted_at":"2026-06-09T13:00:56Z","title":"IMPACT: Learning Internal-Model Predictive Control for Forceful Robotic Manipulation","version":1},"reference_index":50,"source":"pdf_text","source_observed_at":"2026-06-27T13:04:17.761552Z"},"links":{"cited_paper":"/paper/2110.09904","citing_paper":"/paper/2606.10818"},"observation_digest":"sha256:9ba9cb70ffe4fd81ce19482ef080107a349123677c2f293ab82765d740096544","observation_id":"11c37152-5201-4bc1-84a2-d1e627e32ade","resolution":{"observed_at":"2026-07-03T05:47:41.668626Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-20T06:33:59.587034+00:00","source":"crossref"},{"observed_at":"2026-08-20T06:33:54.927442+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2110.09904/citation-record","integrity":"/paper/2110.09904/integrity","json":"/paper/2110.09904/citation-record.json","paper":"/paper/2110.09904"},"outbound":[],"paper":{"arxiv_id":"2110.09904","last_updated":"2021-10-20T08:35:13Z","latest_version":2,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-18T16:31:37.462084Z","submitted_at":"2021-10-19T12:09:02Z","title":"Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space"},"reference_resolution":{"displayed":0,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":0,"verified_exact":0,"verified_fuzzy":0},"total_outbound_references":0},"refusal":"A citation records a reference. It does not transfer a finding from one paper to another.","schema":"pith.paper-citation-record.v1","standing_sources":[{"observed_at":"2026-08-20T06:33:59.587034+00:00","source":"crossref"},{"observed_at":"2026-08-20T06:33:54.927442+00:00","source":"retraction_watch"}],"thesis":"As of 20 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 2 inbound Pith citation observations for arXiv:2110.09904."}