{"as_of":"2026-08-18T05:13:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:a220d9c4f52a7cff6499bfc339eb49ff47842b590784013ff365eff2974a9857","coverage":[{"denominator":38,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":38,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-16T11:40:40.509377Z","state":"measured"},{"denominator":39,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":39,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-17T06:30:58.91139+00:00","state":"measured"},{"denominator":1,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":1,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-15T20:14:17.213450Z","state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"pith","source_observed_at":"2026-08-15T20:14:17.369543Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"cited_work":{"arxiv_id":"2504.14989","doi":null,"metadata_source":"pith","pith_arxiv_id":"2504.14989","snapshot_observed_at":"2026-08-15T20:14:17.369543Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","venue":"cs.RO","work_id":"61fa4146-f919-41eb-9ee0-ad023637ea2b","year":2025},"citing_paper":{"arxiv_id":"2505.13834","last_updated":"2025-08-30T02:08:59Z","snapshot_observed_at":"2026-08-16T22:40:51.025041Z","submitted_at":"2025-05-20T02:20:54Z","title":"Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams","version":2},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-15T20:14:17.213450Z"},"links":{"cited_paper":"/paper/2504.14989","citing_paper":"/paper/2505.13834"},"observation_digest":"sha256:09fc4c91924d45b0b661269a3d2f9aaa0d2d9ca1767430314f319a148990dfc7","observation_id":"cccc5e72-4eeb-42fc-ab3c-6f22ca0fa439","resolution":{"observed_at":"2026-08-15T20:14:17.374349Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2504.14989/citation-record","integrity":"/paper/2504.14989/integrity","json":"/paper/2504.14989/citation-record.json","paper":"/paper/2504.14989"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:41.041119Z","title":"Rapid locomotion via reinforcement learning,","venue":null,"work_id":"fc301eab-2568-4329-bbc9-7b7c8ba200fe","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.352458Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:81df99d74931596abca1149a7f29ea3baf62300ab5661c8ce9dcb4f5b6a23bbb","observation_id":"d13d0247-d71a-438d-a0bc-dfea91b3f46b","resolution":{"observed_at":"2026-08-16T11:40:41.045479Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:41.027076Z","title":"Robot parkour learning,","venue":null,"work_id":"2a9dcd90-4e83-45ec-ad6f-233895d75ea4","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.357227Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:b2c553f6db0210d9655c6e5fb59db048cb27a0f1362e2a2063553cb2c161047f","observation_id":"7c7d645f-f74e-4945-bfeb-3e07663b4ed6","resolution":{"observed_at":"2026-08-16T11:40:41.031539Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:41.011593Z","title":"Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot,","venue":null,"work_id":"62ecfe5c-6e46-46d1-b275-9e886d5ec28e","year":2022},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.361526Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:1a1c232bf27ef10004f47a833978c3fe2d619a6d177c45793f0b6f0f0c13ce56","observation_id":"35107e73-8852-49b7-8e69-bfb862d18f68","resolution":{"observed_at":"2026-08-16T11:40:41.016796Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.996593Z","title":"Learning-based legged locomotion: State of the art and future per- spectives,","venue":null,"work_id":"ab4b89f9-3b7f-41ee-a960-2d86070d4e5f","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.365774Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:bb2be7e636b4ee2d75163d1fff630556c4c5709e015407a603ad7f68c5aefaa2","observation_id":"a58d6a59-0b7c-449a-bbb7-8b6b4a1be5d0","resolution":{"observed_at":"2026-08-16T11:40:41.001188Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.982294Z","title":"Dribblebot: Dynamic legged manipulation in the wild,","venue":null,"work_id":"d240d486-6aeb-48a9-895a-a788ec7f1a42","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.370168Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:c7464cf1849984eb09e4889bc5418d83679ea6033e8cfc68ec3ffe93d515548c","observation_id":"c0ebab54-6a59-4b4c-a7ce-c0d73e8d2a9f","resolution":{"observed_at":"2026-08-16T11:40:40.986917Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.967207Z","title":"Dexdribbler: Learning dexterous soccer manipulation via dynamic supervision,","venue":null,"work_id":"1315ea3f-a407-48b3-ac16-a909b0d861b5","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.374682Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:3c0d6018d8327da4428cbd145ec2a5176cfb95690000b97eb71eefafbc6e52a9","observation_id":"9c15c8b5-5e70-445c-82c3-1be5b4dc002b","resolution":{"observed_at":"2026-08-16T11:40:40.972505Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.952357Z","title":"Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning,","venue":null,"work_id":"a47b3ee2-74aa-4f3d-94d1-76e133aa9c89","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.379784Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:f78e561dc5ea6913903b74883491e37db1b07aa3e7203395448783785d1541e7","observation_id":"1cdad0a3-3a8c-4280-b4e3-c0cfd90d8593","resolution":{"observed_at":"2026-08-16T11:40:40.956984Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.938283Z","title":"Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,","venue":null,"work_id":"ab0b17e2-af3e-4443-9df2-487feba2c19c","year":2022},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.383930Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:7dd9589b2fff22e1e47b6ce4844e718943c942de22bd435fd88f74b73a1c925f","observation_id":"05b2d240-29e8-45be-90b7-1c960e95c506","resolution":{"observed_at":"2026-08-16T11:40:40.942752Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.388127Z","title":"Not only rewards but also constraints: Applications on legged robot locomotion,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.388127Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:3c1695007fd07c44d99b9fcf13853bb8f3c4238598af611452dde5bddd0a876f","observation_id":"a5885938-7fbf-4ded-9a44-28572775cae7","resolution":{"observed_at":"2026-08-16T11:40:40.388127Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.392295Z","title":"Learning agile and dynamic motor skills for legged robots,","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.392295Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:5be1cf0747e9a050c782c1f2d8beb962f59465eb78efd2fe2351bd9afe21bc07","observation_id":"f50a5dd0-9e3e-4f40-8ec3-5a1ecc4b9b07","resolution":{"observed_at":"2026-08-16T11:40:40.392295Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.905662Z","title":"Learning quadrupedal locomotion over challenging terrain,","venue":null,"work_id":"5be11d33-4f36-4ca1-b629-af94b3291469","year":2020},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.396593Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:7bbfdf25fa6a8b586eee774ee787f379618952e3093e67b7746c4db1b6f862a0","observation_id":"d2119b14-ff32-4ced-ba2a-df870eb5e4f6","resolution":{"observed_at":"2026-08-16T11:40:40.910191Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.892210Z","title":"Learning to walk in minutes using massively parallel deep reinforcement learning,","venue":null,"work_id":"ba736503-feb8-4f3e-a7f0-713e06529c4a","year":2022},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.400851Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:c2800fd6c3a61241b0c2b81dd7371b5ce9c06df134da7ce0dbed75ff00aacc74","observation_id":"1a2913c1-ac3d-4d9c-beab-d9031543affb","resolution":{"observed_at":"2026-08-16T11:40:40.896378Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.878828Z","title":"Learning robust perceptive locomotion for quadrupedal robots in the wild,","venue":null,"work_id":"0bb0b52c-5c67-40a1-9d42-12af416b6846","year":2022},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.404917Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:1615514431773fb5fa513bdf90f5134fd7d2abc89e0396602ffc784122909d30","observation_id":"44a784eb-c0a1-48fe-9056-2459cd9b88ad","resolution":{"observed_at":"2026-08-16T11:40:40.883145Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.865234Z","title":"Walk these ways: Tuning robot control for generalization with multiplicity of behavior,","venue":null,"work_id":"d384a252-5f9e-49fa-8c2d-8d20c26d87af","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.409258Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:979a5a536e324b0d80647351ea22a5145dae5361aa924154a92aa1bd5d882250","observation_id":"16d27bef-3d89-4e2a-9a96-ef521235c758","resolution":{"observed_at":"2026-08-16T11:40:40.869997Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.851669Z","title":"Rma: Rapid motor adaptation for legged robots,","venue":null,"work_id":"7b766079-562e-4154-afe7-87b07f9f5d01","year":2021},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.413433Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:31685878a1b20c9231a1160d9cd34deac20d22a608a9d1c7e0d2160317c6bfa1","observation_id":"67a50a98-251c-48d6-a241-c04c2ff45ba2","resolution":{"observed_at":"2026-08-16T11:40:40.856203Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.837579Z","title":"Pedipulate: Enabling manipulation skills using a quadruped robot’s leg,","venue":null,"work_id":"8f495da3-36cb-4c0d-9c9e-401089226180","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.417526Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:e36dbea47c84b00b7b90f4ad431217e2cc40028740e6c36db22cb8c3016b72a7","observation_id":"00ecd40a-91de-4f46-8eaf-66c023ca4606","resolution":{"observed_at":"2026-08-16T11:40:40.841983Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.823569Z","title":"Legs as manipulator: Pushing quadrupedal agility beyond locomotion,","venue":null,"work_id":"4d71f92f-2823-41d3-937a-458d0d020787","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.421736Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:2481674c6167460ed29dfab8eeeb6babf1a8c7f16b6948c0ffa77306904db937","observation_id":"f45d2946-fb7b-4007-b333-d0a621961b6f","resolution":{"observed_at":"2026-08-16T11:40:40.828015Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.809820Z","title":"Creating a dynamic quadrupedal robotic goalkeeper with reinforcement learning,","venue":null,"work_id":"3b38b1ed-ecd0-4718-abf5-c0e8f8bd70b2","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.426130Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:1a04f0cbdabddc114b07fc55828995ac20e88aa281e30fb80b77788033f74a12","observation_id":"0fb86736-9260-46e9-8c07-7b99534b9099","resolution":{"observed_at":"2026-08-16T11:40:40.814271Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.796199Z","title":"Learning visual quadrupedal loco-manipulation from demonstrations,","venue":null,"work_id":"6b34b704-8721-48bc-9f95-260e321d4861","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.430266Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:8cf6243d7de70cab7c4b420b467eab353066930bc1e637b6be90f645eb7ef066","observation_id":"ddbef635-46ec-43f7-b0f2-b5abed41366e","resolution":{"observed_at":"2026-08-16T11:40:40.800565Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.782899Z","title":"Hilma-res: A general hierarchical framework via residual rl for combining quadrupedal locomotion and manipulation,","venue":null,"work_id":"b50b14e0-ce6c-49f3-b18d-dc58f1f919e4","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.434168Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:76a9d8ceb910c3c67e0b8f3b90ee247018439b279d95a8cbfbc20a3ff8da7427","observation_id":"4fb2b297-3809-4b16-b187-2d7909027713","resolution":{"observed_at":"2026-08-16T11:40:40.787209Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.769809Z","title":"Precup, Temporal abstraction in reinforcement learning","venue":null,"work_id":"d5b11f02-195b-40d5-a354-41ab2cef675a","year":2000},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.438348Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:a06c954af2d0eb48ee92638d976545e95b459292f93e4e7e9891796cabf1c878","observation_id":"c0ec2d23-9753-467a-91df-63c9d14890e9","resolution":{"observed_at":"2026-08-16T11:40:40.774027Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.755908Z","title":"Near-optimal representa- tion learning for hierarchical reinforcement learning,","venue":null,"work_id":"0827e43a-b8ce-4db2-b4c7-8ae8f1329077","year":2019},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.442777Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:20d0944ac9054f624200cbdf3074d1fe98ee931cd9867b76aa528e1da004698a","observation_id":"6adf5020-481c-45b7-8bbc-c30d06bae50c","resolution":{"observed_at":"2026-08-16T11:40:40.760561Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.742768Z","title":"Hierarchical reinforce- ment learning: A survey and open research challenges,","venue":null,"work_id":"d36be39d-ad1f-4502-ac42-aeafd868bcad","year":2022},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.446841Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:8398187c68a369357224fe80a9a24f4a493956dc8527e1ff816a7cdb6fb5298c","observation_id":"44d28870-8903-446b-836e-d8124be149a6","resolution":{"observed_at":"2026-08-16T11:40:40.746961Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.729485Z","title":"Reinforcement learning in finite mdps: Pac analysis","venue":null,"work_id":"ac05f7e2-9538-4d37-905b-1c12acdd45b3","year":2009},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.450797Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:9e69bbca73662df8a1461625721fd9fa8b0f768061b4141c9bc798b3aa2b57e8","observation_id":"96803313-5b7b-4f04-a451-04492b58e59e","resolution":{"observed_at":"2026-08-16T11:40:40.733844Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.715609Z","title":"Minimax regret bounds for reinforcement learning,","venue":null,"work_id":"7eede2d5-306e-46e0-a853-74244ab7a6fd","year":2017},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.454859Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:f7ffa46a32cc4a4cc6ed0cbfd20f4207a5da9f19cb3757558646c71e31bf7682","observation_id":"5bbdbd4f-6ae1-4234-be2f-4987916707d2","resolution":{"observed_at":"2026-08-16T11:40:40.720118Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"1909.10618","last_updated":"2019-12-30T17:21:22Z","snapshot_observed_at":"2026-08-15T14:00:42.764198Z","submitted_at":"2019-09-23T21:11:30Z","title":"Why Does Hierarchy (Sometimes) Work So Well in Reinforcement Learning?","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"1909.10618","snapshot_observed_at":"2026-08-16T11:40:40.458635Z","title":"Why does hierarchy (sometimes) work so well in reinforcement learning?","venue":null,"work_id":null,"year":1909},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.458635Z"},"links":{"cited_paper":"/paper/1909.10618","citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:d35319fb937676b079168c9bc4a5e18bc396b1e915c738de5cbff8a0bc1d417c","observation_id":"4ad8a221-3ca4-48e7-b3b2-714542e6d7cf","resolution":{"observed_at":"2026-08-16T11:40:40.458635Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.701994Z","title":"Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning,","venue":null,"work_id":"29af535c-ceb2-47fd-bc8e-bfe9bb0e7bf7","year":2017},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.462809Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:2e3163d82e4bd42c5f0852f82e0446216ec4099665980cf11284825a4489d052","observation_id":"dda06d8d-77f5-4672-a9d5-f1aada54643f","resolution":{"observed_at":"2026-08-16T11:40:40.706215Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.688524Z","title":"Hierarchical reinforcement learning for quadruped locomotion,","venue":null,"work_id":"40d4ca21-ab09-4923-bbbb-a9b3c5af6265","year":2019},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.466636Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:a925abb52f884d3d4b75af5dcb0c68a77aa964524838b28c6e503282f58bcb72","observation_id":"15f2f0e4-1e92-4c7b-818f-06464dd159d5","resolution":{"observed_at":"2026-08-16T11:40:40.692686Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.674845Z","title":"A hierarchical framework for quadruped omnidirectional locomotion based on reinforcement learning,","venue":null,"work_id":"51e38b58-e30a-476b-9c74-56b2762fd7aa","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.471041Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:1eb7806d50beef6e8c6d4f9e76cc5629624b6f70e51a3dee47cb183b4adbdfb0","observation_id":"6e500e08-d59c-41eb-88e1-617eb310f7e7","resolution":{"observed_at":"2026-08-16T11:40:40.679140Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.661925Z","title":"Hierarchical skills for efficient exploration,","venue":null,"work_id":"7bade1ba-4447-4398-83e2-6910430746a9","year":2021},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.475359Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:deff3507a79a84e9e1fe909768323c2a1c9fa528cc8f296042d832dfd2b84adf","observation_id":"c27d84b2-b8cb-4616-a916-e83f012c22c3","resolution":{"observed_at":"2026-08-16T11:40:40.666084Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.647364Z","title":"Hi- erarchical reinforcement learning with universal policies for multistep robotic manipulation,","venue":null,"work_id":"242f3f3c-11b5-49cd-8455-9b1903f8fc9e","year":2021},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.479473Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:1773cdc0c41bbb6f39d21a9c539977471eb114e8c7ac583f9c993dc5662a3fe5","observation_id":"4271ab27-2d2e-4e7f-8fe7-b287d4d352c2","resolution":{"observed_at":"2026-08-16T11:40:40.652424Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.632664Z","title":"Cascaded compositional residual learning for complex interactive behaviors,","venue":null,"work_id":"8e83b854-3361-4d29-802e-19c95f64221c","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.483739Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:b0c01bce9b5f5fdf7398f625a73dfb13f032107a6eaf7f84ef511634eb23609c","observation_id":"0270ae09-1d7e-4f1b-a5a6-27d1b83e0bf9","resolution":{"observed_at":"2026-08-16T11:40:40.637035Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.619086Z","title":"Asc: Adaptive skill coordination for robotic mobile manipulation,","venue":null,"work_id":"318aebbe-8736-4ea3-be13-1ae93a0ef998","year":2023},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.487767Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:17816d8719af756a0c4846b7cf5734927e6a02dc5181c39171dc01cb2052e879","observation_id":"0ea1a3a9-be12-4c3b-b2e8-10ae093343f9","resolution":{"observed_at":"2026-08-16T11:40:40.623475Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.605155Z","title":"SLR: Learning quadruped locomotion without privileged information,","venue":null,"work_id":"73864e40-9799-47ad-88a3-d62ff572b831","year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.492692Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:8e998d8925c509c8d9a59d10da4fb0db1ec4ed0884e442e48182d36097dd2632","observation_id":"bcb0835b-e1f3-439c-af54-eef2d9d8771d","resolution":{"observed_at":"2026-08-16T11:40:40.609470Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"1707.06347","last_updated":"2017-08-28T09:20:06Z","snapshot_observed_at":"2026-08-15T20:26:32.102285Z","submitted_at":"2017-07-20T02:32:33Z","title":"Proximal Policy Optimization Algorithms","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"1707.06347","snapshot_observed_at":"2026-08-16T11:40:40.496549Z","title":"Proximal policy optimization algorithms,","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.496549Z"},"links":{"cited_paper":"/paper/1707.06347","citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:d83e49748de4b47492bf60f936e1cbb7c5767eea9468ae2e9a9cc50ae096d3dd","observation_id":"32e845f1-4c73-4f6a-9643-3bcd66f0a51c","resolution":{"observed_at":"2026-08-16T11:40:40.496549Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.592042Z","title":"Policy gradi- ent methods for reinforcement learning with function approximation,","venue":null,"work_id":"bd31a3d0-ce76-4efc-acda-1a4c5817a4a4","year":1999},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.500853Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:d38914a31006b0162a4debe630b1bd26573adf7562c5f301ade7437577a5d846","observation_id":"7178b335-018a-4920-8f63-05dce58f91af","resolution":{"observed_at":"2026-08-16T11:40:40.596364Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.576213Z","title":"Asymmetric actor critic for image-based robot learning,","venue":null,"work_id":"69d3eb37-0176-44ef-91d1-e87af6025396","year":2018},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.504987Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:99ad15dab0f72bdc7d1d9d6b8061e6081eb8d998b78e308da5d5b718325d0234","observation_id":"ab9aff98-ac8f-46fb-b3aa-a9ce5bded20f","resolution":{"observed_at":"2026-08-16T11:40:40.582728Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":null,"snapshot_observed_at":"2026-08-16T11:40:40.509377Z","title":"Ultralytics yolo11,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-08-16T11:40:40.509377Z"},"links":{"citing_paper":"/paper/2504.14989"},"observation_digest":"sha256:3612571b34b7f1fa6f7f59751fa083e1e616d673a2ad08bd8b20d9e3b998950c","observation_id":"adb56865-e416-4f7c-94c6-c903ff69eea3","resolution":{"observed_at":"2026-08-16T11:40:40.509377Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"paper":{"arxiv_id":"2504.14989","last_updated":"2025-04-21T09:38:38Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-16T11:33:49.134727Z","submitted_at":"2025-04-21T09:38:38Z","title":"Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning"},"reference_resolution":{"displayed":38,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":5,"verified_exact":0,"verified_fuzzy":33},"total_outbound_references":38},"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":"2026-08-17T06:30:58.91139+00:00","source":"crossref"},{"observed_at":"2026-08-17T06:30:54.323127+00:00","source":"retraction_watch"}],"thesis":"As of 18 August 2026, this Paper Citation Record lists 38 of 38 outbound references and 1 inbound Pith citation observation for arXiv:2504.14989."}