Paper Citation Record · LEDGER

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions

As of 19 August 2026, this Paper Citation Record lists 22 of 22 outbound references and 2 inbound Pith citation observations for arXiv:2501.04228.

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

pith.paper-citation-record.v1
2501.04228 v2

Coverage vector

measured 22 of 22 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-10T21:45:25.203483Z

measured 24 of 24 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T10:19:07.791607Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-02T03:16:33.829615Z

Reference resolution

22 of 22 outbound references displayed

verified exact0
verified fuzzy15
unresolved7
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 92d3b4b9-1155-4786-a4eb-542f55e02170 · outbound

This paper cites Learning bipedal robot locomotion from hu- man movement,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Learning bipedal robot locomotion from hu- man movement,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.655529Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 782e5d4a-c734-4655-a320-abe655d516ed · outbound

This paper cites Champion-level drone racing using deep reinforce- ment learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Champion-level drone racing using deep reinforce- ment learning,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.085999Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 47c9e932-1ae8-4a95-b932-98cd1696c037 · outbound

This paper cites Robot parkour learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Robot parkour learning,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.621452Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 05ee9a45-eb3b-418c-b5e4-1cff474b55bc · outbound

This paper cites Cat: Constraints as terminations for legged locomotion reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Cat: Constraints as terminations for legged locomotion reinforcement learning,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.600547Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4d3065f9-c25e-4600-baba-621c1bdd7c54 · outbound

This paper cites Learning agile and dynamic motor skills for legged robots,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Learning agile and dynamic motor skills for legged robots,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.576349Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4d97ea8c-2be4-4b20-9e3f-d2041527e3a9 · outbound

This paper cites Boyd and L.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Boyd and L

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.111129Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 30f58679-35a3-45c8-9960-f469244af536 · outbound

This paper cites Outracing champion gran turismo drivers with deep reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Outracing champion gran turismo drivers with deep reinforcement learning,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.542087Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 3e4678e9-4e2d-4507-8ed2-909b1a95fe8f · outbound

This paper cites Benchmarking safe exploration in deep reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Benchmarking safe exploration in deep reinforcement learning,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.524122Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b3d1eaa7-b688-478c-a441-deebc05e5eda · outbound

This paper cites Learning to walk in the real world with minimal human effort,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Learning to walk in the real world with minimal human effort,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.503746Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation df298fa6-1a0d-4429-b293-1291f4804733 · outbound

This paper cites Real-time perceptive motion control using control barrier functions with analytical smoothing for six-wheeled- telescopic-legged robot tachyon 3,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Real-time perceptive motion control using control barrier functions with analytical smoothing for six-wheeled- telescopic-legged robot tachyon 3,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.481481Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 3fa21293-a985-42d6-8719-ee76c72cf5a8 · outbound

This paper cites A comprehensive survey on safe reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions A comprehensive survey on safe reinforcement learning,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.464542Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1ed1db81-1518-4574-945c-70f195a06df1 · outbound

This paper cites Penalized proximal policy optimization for safe reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Penalized proximal policy optimization for safe reinforcement learning,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.447305Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1d220833-10d0-48ae-827a-f031901482a4 · outbound

This paper cites Robot reinforcement learning on the constraint manifold,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Robot reinforcement learning on the constraint manifold,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.429887Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation c8e2244b-9576-455f-b932-b0162063d5fd · outbound

This paper cites Trust region policy optimization,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Trust region policy optimization,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.411592Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 8f508334-3915-499e-b54b-e4974a34f184 · outbound

This paper cites Proximal Policy Optimization Algorithms.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Proximal Policy Optimization Algorithms

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.161838Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6926126d-7005-4594-a378-1e7494faa967 · outbound

This paper cites Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Soft actor-critic: Off-policy maximum entropy deep reinforcement learning with a stochastic actor,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.394471Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 969e9470-17bd-4080-bae2-80fc4a7e5ba6 · outbound

This paper cites Soft Actor-Critic Algorithms and Applications.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Soft Actor-Critic Algorithms and Applications

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.174248Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bcd72484-cc04-45d8-bd31-f07be145c0e0 · outbound

This paper cites Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Evaluation of Constrained Reinforcement Learning Algorithms for Legged Locomotion

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.180371Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9583058d-0c6f-461e-b780-f2560d46d777 · outbound

This paper cites Learning agile soccer skills for a bipedal robot with deep reinforcement learning,.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Learning agile soccer skills for a bipedal robot with deep reinforcement learning,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.377392Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 4a8ee6c1-620f-470a-9e91-3a2feda6f2ac · outbound

This paper cites an unresolved cited work.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Unresolved cited work

Reference 20

Resolution: unresolved; raw_fallback, observed 2026-08-10T21:45:25.357798Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 65c9b896-690b-4eb7-a4d9-829137c734de · outbound

This paper cites Mujoco: A physics engine for model-based control.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions Mujoco: A physics engine for model-based control

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-10T21:45:25.339663Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e4227e1d-006e-42d8-92af-336324b21b7a · outbound

This paper cites OpenAI Gym.

Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions OpenAI Gym

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-10T21:45:25.203483Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation dbf013d3-9484-45d5-972c-d17b4d67a52c · inbound

Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning cites this paper.

Gain Tuning Is Not What You Need: Reward Gain Adaptation for Constrained Locomotion Learning Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-04T10:19:07.791607Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d4d97c39-604e-4831-912e-05562f8fc141 · inbound

ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control cites this paper.

ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control Constraints as Rewards: Reinforcement Learning for Robots without Reward Functions

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-07-02T03:16:33.831410Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.