Paper Citation Record · LEDGER

HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

As of 10 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 39 inbound Pith citation observations for arXiv:2403.10506.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2403.10506 v2

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-10T06:31:04.303077+00:00

measured 39 of 39 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-09T04:38:30.698954Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: arxiv_reference, observed 2026-07-04T19:40:06.916232Z

Reference resolution

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verified exact0
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External citation measurements

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Outbound references

No outbound reference observations are available for this paper version.

Pith citing papers

Observation 1294ccb0-cd74-46f5-b3e4-88d81c668ee6 · inbound

TD-M(PC)$^2$: Improving Temporal Difference MPC Through Policy Constraint cites this paper.

TD-M(PC)$^2$: Improving Temporal Difference MPC Through Policy Constraint HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-09T04:38:30.698954Z

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Observation 2bb4a1b2-f665-425f-915a-c96cf8aaa98d · inbound

WorldEval: World Model as Real-World Robot Policies Evaluator cites this paper.

WorldEval: World Model as Real-World Robot Policies Evaluator HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-07T14:25:39.217992Z

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Observation 26518396-25da-4193-9b3b-c8c1a5ad8717 · inbound

Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners cites this paper.

Bigger, Regularized, Categorical: High-Capacity Value Functions are Efficient Multi-Task Learners HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 89

Resolution: unresolved; no resolver link, observed 2026-08-07T12:58:53.082154Z

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Observation 15afa95b-f4d9-4901-969a-88adc9cd4342 · inbound

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction cites this paper.

Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-07T12:44:05.423644Z

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Observation c666b3da-599c-4b41-a39b-765a3e9b4c81 · inbound

SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending cites this paper.

SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-07T04:54:01.876766Z

Source-reported events for the cited work

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Observation 8b14b05d-c8fa-4c20-b22a-d15cb39aa7d0 · inbound

DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion cites this paper.

DoublyAware: Dual Planning and Policy Awareness for Temporal Difference Learning in Humanoid Locomotion HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T04:27:30.356457Z

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Observation 1b531b16-792b-455e-815a-2354069bbe5a · inbound

A Forget-and-Grow Strategy for Deep Reinforcement Learning Scaling in Continuous Control cites this paper.

A Forget-and-Grow Strategy for Deep Reinforcement Learning Scaling in Continuous Control HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-06T20:31:07.858169Z

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Observation d968c205-8934-42fd-b2a7-ad78bab7f571 · inbound

Benchmarking Massively Parallelized Multi-Task Reinforcement Learning for Robotics Tasks cites this paper.

Benchmarking Massively Parallelized Multi-Task Reinforcement Learning for Robotics Tasks HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 53

Resolution: unresolved; no resolver link, observed 2026-08-06T11:03:28.917713Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 14ae2c65-a5f8-4ba8-8e94-42513ce3f431 · inbound

Sari Sandbox: A Virtual Retail Store Environment for Embodied AI Agents cites this paper.

Sari Sandbox: A Virtual Retail Store Environment for Embodied AI Agents HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-06T10:12:28.882640Z

Source-reported events for the cited work

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Observation 14655a44-f98d-4c09-9a60-a5429f3718e3 · inbound

Scaling DRL for Decision Making: A Survey on Data, Network, and Training Budget Strategies cites this paper.

Scaling DRL for Decision Making: A Survey on Data, Network, and Training Budget Strategies HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-06T04:39:07.312483Z

Source-reported events for the cited work

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Observation d18f1021-6d1d-4ec6-ab65-dc80412cc11a · inbound

GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation cites this paper.

GBC: Generalized Behavior-Cloning Framework for Whole-Body Humanoid Imitation HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 87

Resolution: unresolved; no resolver link, observed 2026-08-05T20:48:55.362008Z

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Observation bd3c9c08-4a1c-42bf-8413-b201840c0b69 · inbound

Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control cites this paper.

Non-conflicting Energy Minimization in Reinforcement Learning based Robot Control HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-05T12:16:02.184080Z

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Observation b41db84b-b6d6-4ed8-9a55-daf50f968a25 · inbound

Use the Online Network If You Can: Towards Fast and Stable Reinforcement Learning cites this paper.

Use the Online Network If You Can: Towards Fast and Stable Reinforcement Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-05-21T21:34:22.312178Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a09046e7-be27-44cf-a026-7153d5491af0 · inbound

Simplicial Embeddings Improve Sample Efficiency in Actor-Critic Agents cites this paper.

Simplicial Embeddings Improve Sample Efficiency in Actor-Critic Agents HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 96

Resolution: unresolved; no resolver link, observed 2026-08-04T09:48:07.233571Z

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Observation ce0f5d9a-8489-4d39-a182-55bdcfb85c9a · inbound

PHUMA: Physically Reliable Humanoid Locomotion Dataset cites this paper.

PHUMA: Physically Reliable Humanoid Locomotion Dataset HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 2017

Resolution: unresolved; no resolver link, observed 2026-08-04T07:20:59.501875Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0a6cbba4-9b79-4eef-afde-f067aa0b6dc3 · inbound

Prismatic World Model: Learning Compositional Dynamics for Planning in Hybrid Systems cites this paper.

Prismatic World Model: Learning Compositional Dynamics for Planning in Hybrid Systems HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 4

Resolution: metadata mismatch; arxiv_id, observed 2026-05-17T00:38:44.993231Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 3a7c4b6d-e41d-42bf-bebb-12df864eab55 · inbound

FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control cites this paper.

FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 76

Resolution: verified exact; arxiv_id, observed 2026-05-10T22:15:49.794807Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0f813038-40e2-43db-af92-2a8c43e87a87 · inbound

FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control cites this paper.

FlashSAC: Fast and Stable Off-Policy Reinforcement Learning for High-Dimensional Robot Control HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 76

Resolution: verified exact; arxiv_id, observed 2026-05-19T17:12:41.308872Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 2f016b57-46bc-49dc-b1f1-1eb3681c5229 · inbound

BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination cites this paper.

BiCoord: A Bimanual Manipulation Benchmark towards Long-Horizon Spatial-Temporal Coordination HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 50

Resolution: verified exact; arxiv_id, observed 2026-05-10T23:40:52.438162Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0a115e2c-87a2-4cc8-be8a-315b349cfc9e · inbound

Mean Flow Policy Optimization cites this paper.

Mean Flow Policy Optimization HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 9

Resolution: unresolved; no resolver link, observed 2026-07-12T20:04:29.261622Z

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Unavailable: canonical work link unavailable.

Observation 9adeb3a4-e5ed-4fa2-9303-b2b43e2ea4d6 · inbound

ALAS: Adaptive Long-Horizon Action Synthesis via Async-pathway Stream Disentanglement cites this paper.

ALAS: Adaptive Long-Horizon Action Synthesis via Async-pathway Stream Disentanglement HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:06:04.961192Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1179bc5f-9f4c-484b-b708-e79f6a5411fe · inbound

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future cites this paper.

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-11T13:51:04.859064Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation fad53129-e691-4562-b0b4-947ea163b554 · inbound

Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot cites this paper.

Learn Weightlessness: Imitate Non-Self-Stabilizing Motions on Humanoid Robot HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-05-11T14:26:03.664931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 6f847944-443e-4471-8703-c063406595c3 · inbound

dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model cites this paper.

dWorldEval: Scalable Robotic Policy Evaluation via Discrete Diffusion World Model HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 36

Resolution: verified exact; arxiv_id, observed 2026-05-11T19:31:09.772106Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a2b96c66-fb8b-417d-bf00-0a08e6e7b992 · inbound

SPHERE: Mitigating the Loss of Spectral Plasticity in Mixture-of-Experts for Deep Reinforcement Learning cites this paper.

SPHERE: Mitigating the Loss of Spectral Plasticity in Mixture-of-Experts for Deep Reinforcement Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 96

Resolution: verified exact; arxiv_id, observed 2026-05-11T18:11:05.666520Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation b08048b1-a4df-4a58-a138-dc66a66cacec · inbound

SPHERE: Mitigating the Loss of Spectral Plasticity in Mixture-of-Experts for Deep Reinforcement Learning cites this paper.

SPHERE: Mitigating the Loss of Spectral Plasticity in Mixture-of-Experts for Deep Reinforcement Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 96

Resolution: verified exact; arxiv_id, observed 2026-05-11T04:15:55.478118Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 77fa54bf-9deb-4180-aa9d-f73f48bdabd6 · inbound

Generative Actor-Critic with Soft Bridge Policies cites this paper.

Generative Actor-Critic with Soft Bridge Policies HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-05-12T06:46:28.889377Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation cd96055b-0fa0-4507-87fb-1d0753899da9 · inbound

When Does Non-Uniform Replay Matter in Reinforcement Learning? cites this paper.

When Does Non-Uniform Replay Matter in Reinforcement Learning? HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 34

Resolution: verified exact; arxiv_id, observed 2026-05-12T05:36:24.617154Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a98e61aa-dc11-4e6f-91a6-536630ec018b · inbound

When Does Non-Uniform Replay Matter in Reinforcement Learning? cites this paper.

When Does Non-Uniform Replay Matter in Reinforcement Learning? HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-05-13T06:32:24.813977Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 192e58bd-e759-4a8f-8604-5a243de26d4a · inbound

When Does Non-Uniform Replay Matter in Reinforcement Learning? cites this paper.

When Does Non-Uniform Replay Matter in Reinforcement Learning? HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-05-20T23:09:12.676373Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 673a105f-016d-4788-9493-067090a5dc83 · inbound

World Action Models: The Next Frontier in Embodied AI cites this paper.

World Action Models: The Next Frontier in Embodied AI HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 247

Resolution: verified exact; arxiv_id, observed 2026-05-13T05:07:17.872468Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation d7825235-4c0f-40f3-ac62-6e17073bcb61 · inbound

Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning cites this paper.

Cooperative Long Rope Skipping via Multi-Agent Reinforcement Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 43

Resolution: verified exact; arxiv_id, observed 2026-07-02T21:27:24.481076Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation b0efe6f3-cc53-43dc-953b-5833f14055a5 · inbound

Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation cites this paper.

Real-IKEA: Physical Fidelity is the Prerequisite for Robust Manipulation HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-07-02T23:17:29.867735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0c305888-fd76-44de-a7fa-b8843614417f · inbound

DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stack cites this paper.

DeepInsight: A Unified Evaluation Infrastructure Across the Physical AI Stack HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-07-03T20:18:56.580913Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0045446a-ae61-403d-94e4-a9cdd88bfdea · inbound

HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning cites this paper.

HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-07-03T20:38:55.531946Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 647c31ef-2e74-4711-a455-7ce62f412059 · inbound

WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning cites this paper.

WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-07-04T19:40:06.917898Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 3867b7cb-acf3-444a-a584-3a47414a2ae0 · inbound

WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning cites this paper.

WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-06-30T12:44:39.903779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a36fcce5-004e-4a87-9b3e-df48e54d7b1b · inbound

Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory cites this paper.

Labimus: A Simulation and Benchmark for Humanoid Dexterous Manipulation in Chemical Laboratory HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 36

Resolution: verified exact; arxiv_id, observed 2026-07-01T10:05:41.031441Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a866fbf4-3e35-46ea-818a-d26070df938a · inbound

First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance cites this paper.

First Deployable Dynamic-CoM: A Unified Policy and Method-Agnostic Benchmark for Humanoid Single-Leg Balance HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-05T00:57:10.322824Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.