{"as_of":"2026-08-15T22:25:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:3af5efb913e55b952013129b6702521494c6434e43becb26326a41fb5cddae91","coverage":[{"denominator":37,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":37,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-07T05:37:20.972636Z","state":"measured"},{"denominator":40,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":40,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-15T06:32:42.880941+00:00","state":"measured"},{"denominator":3,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":3,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-04T13:52:24.838819Z","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":"2026-07-04T19:20:06.914455Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2506.07454","snapshot_observed_at":"2026-08-04T13:52:24.838819Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs,","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2509.24575","last_updated":"2026-06-30T15:42:35Z","snapshot_observed_at":"2026-08-08T07:36:53.640015Z","submitted_at":"2025-09-29T10:29:18Z","title":"Prompting Robot Teams with Natural Language","version":2},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-04T13:52:24.838819Z"},"links":{"cited_paper":"/paper/2506.07454","citing_paper":"/paper/2509.24575"},"observation_digest":"sha256:24288141c99ddf91fcb4e174d0f260a71ebbd6840120342d7ae7a324738768f5","observation_id":"7574a889-ebc4-4b62-9796-423ce18d3f59","resolution":{"observed_at":"2026-08-04T13:52:24.838819Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"cited_work":{"arxiv_id":"2506.07454","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2506.07454","snapshot_observed_at":"2026-07-04T19:20:06.914455Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","venue":null,"work_id":"609693f2-fbcb-471e-8c86-1cc3622f86ef","year":2025},"citing_paper":{"arxiv_id":"2606.19383","last_updated":"2026-06-15T08:14:08Z","snapshot_observed_at":"2026-08-04T21:50:05.254282Z","submitted_at":"2026-06-15T08:14:08Z","title":"3D Scene Graphs: Open Challenges and Future Directions","version":1},"reference_index":143,"source":"pdf_text","source_observed_at":"2026-06-27T04:16:43.734503Z"},"links":{"cited_paper":"/paper/2506.07454","citing_paper":"/paper/2606.19383"},"observation_digest":"sha256:00e05092263bcedc95179c0c6e7af0c74983c468073b77ffefa13ee1d92bf224","observation_id":"f14c99cb-ed03-4af3-a1ee-7d409cea12c8","resolution":{"observed_at":"2026-07-03T17:18:44.188746Z","resolver_source":"arxiv_id","status":"metadata_mismatch"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"cited_work":{"arxiv_id":"2506.07454","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2506.07454","snapshot_observed_at":"2026-07-04T19:20:06.914455Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","venue":null,"work_id":"609693f2-fbcb-471e-8c86-1cc3622f86ef","year":2025},"citing_paper":{"arxiv_id":"2606.25497","last_updated":"2026-06-24T07:24:39Z","snapshot_observed_at":"2026-08-13T04:13:28.127699Z","submitted_at":"2026-06-24T07:24:39Z","title":"SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-06-25T21:28:01.593510Z"},"links":{"cited_paper":"/paper/2506.07454","citing_paper":"/paper/2606.25497"},"observation_digest":"sha256:0f14c99e907e06bfbf8c6f49212c87a589d65c4ab775f550cb7218a39103cec1","observation_id":"f57bcacd-fb29-4c16-8bd2-3d9796f6faae","resolution":{"observed_at":"2026-07-04T19:20:06.916367Z","resolver_source":"arxiv_id","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}}],"links":{"evidence":"/evidence","html":"/paper/2506.07454/citation-record","integrity":"/paper/2506.07454/integrity","json":"/paper/2506.07454/citation-record.json","paper":"/paper/2506.07454"},"outbound":[{"citation":{"cited_paper":null,"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":"raw_reference","pith_arxiv_id":null,"snapshot_observed_at":"2026-08-07T05:37:21.436112Z","title":"Foundations of spatial perception for robotics: Hierarchical representations and real-time systems,","venue":null,"work_id":"94267359-672b-40a6-b2b2-4782659c16a5","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.845865Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:41b41413f8eb2b60362bc8c44bbac687a3fa92a5a62ce16deeba7f156e0a1e6c","observation_id":"5b6c189d-5a36-44df-bce5-e575252b0cd2","resolution":{"observed_at":"2026-08-07T05:37:21.439325Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.426886Z","title":"Hydra-Multi: Collaborative online construction of 3D scene graphs with multi-robot teams,","venue":null,"work_id":"c6b972e2-5b3f-4b6e-bbe6-0bf604868689","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.850458Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:eb7da535b3fc6b1111eb62c7370ff66a1b2857a0a329f3c8c7602e1e499bfa6f","observation_id":"0a539971-74ff-4926-b58a-5f847c75a77c","resolution":{"observed_at":"2026-08-07T05:37:21.430214Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.415109Z","title":"Conceptgraphs: Open-vocabulary 3D scene graphs for perception and planning,","venue":null,"work_id":"0d36dc34-89de-4df3-9278-15c25da7f936","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.854022Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:9bb9e5cf3fae848aedb989d3c9e7f53a2add400e4dba5bd4d4ae0b64664048e1","observation_id":"8c6e469d-4633-49f8-942e-c450efe1f7e0","resolution":{"observed_at":"2026-08-07T05:37:21.420371Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.404857Z","title":"Roman: Open-set object map alignment for robust view-invariant global localization,","venue":null,"work_id":"0d54af01-1543-48e1-b44a-88b0ef7b748d","year":2025},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.857928Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:78ad45c6724410bb32d51837982a2340b68987cc633d90e67c82615ac0f6a542","observation_id":"69ecee18-3dc2-4d95-8707-837c706e02fd","resolution":{"observed_at":"2026-08-07T05:37:21.408439Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.395239Z","title":"Task and motion planning in hierarchical 3D scene graphs,","venue":null,"work_id":"2bc8d924-0bc6-4f4e-bc19-094d1a08e634","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.861692Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:e8609f5d7529dbd7afe2dd4ce9534ad588e7f7ac78629a09714709e70743dc5a","observation_id":"a3986d38-26e8-463c-a358-ebac7c269464","resolution":{"observed_at":"2026-08-07T05:37:21.398842Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.384976Z","title":"Sayplan: Grounding large language models using 3D scene graphs for scalable robot task planning,","venue":null,"work_id":"c0d1f484-3fb3-4bf9-a659-03867fc28f95","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.865161Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:ca7005a354c86c0bf8b60a4b01ad0c4748fe79a363ee0c012a00d91f82e28014","observation_id":"e36f87c1-bfd9-403d-8959-00d2869eefb7","resolution":{"observed_at":"2026-08-07T05:37:21.388579Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.374925Z","title":"Optimal scene graph planning with large language model guidance,","venue":null,"work_id":"c27d99f2-760c-4a25-9b98-b1ade2b7a101","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.868995Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:07eefc1f1d5d8adee8878d9e3ed18e33c9531ec3f536b65246ce964e30c895c4","observation_id":"b6ec9f6d-a496-46d9-9deb-7d8028a07c8a","resolution":{"observed_at":"2026-08-07T05:37:21.378580Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.364474Z","title":"PDDL – the planning domain definition language,","venue":null,"work_id":"dc16b461-9df9-4f97-8c26-61d9a39bc15a","year":1998},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.872497Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:2de01771b775e86efeb31ad77ce95b7e9051ad3ec128a4b28734faa5d87f9fe4","observation_id":"8b1573d2-dcf2-4c50-9fa2-2f3c4c0f21fe","resolution":{"observed_at":"2026-08-07T05:37:21.368083Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.353710Z","title":"Indoor and outdoor 3D scene graph generation via language-enabled spatial ontologies,","venue":null,"work_id":"e6a5f501-4d70-4f02-81d4-15e6b47132cd","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.875807Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:7fa30e3e9e1496560e35e9ae6bf106fa4e1f2a5b497ab150faaf749a9ac414e0","observation_id":"99edc6f6-4acd-4477-9780-1407b345812d","resolution":{"observed_at":"2026-08-07T05:37:21.357957Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.343548Z","title":"Least squares quantization in PCM,","venue":null,"work_id":"9df7250b-b900-4dea-bed7-ca4f18ff08c8","year":1982},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.879503Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:5a5ccb8e1c8d10268a2837531809057b61a1689a5c85ea64bee366fd9605d1ec","observation_id":"6c9f1d52-a35a-4a8a-a30b-cc726fd6fc31","resolution":{"observed_at":"2026-08-07T05:37:21.346993Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.333214Z","title":"Learning transferable visual models from natural language supervision,","venue":null,"work_id":"7bd1787b-5e23-472e-be2f-74a62d914ab2","year":2021},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.882760Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:f36c90059c128659702e41aa8d1be3890bb6f855359c331f9480e0b213a54f1e","observation_id":"66a4881b-970d-41cd-8dba-46cb47c4b51e","resolution":{"observed_at":"2026-08-07T05:37:21.336780Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.323132Z","title":"PDDLStream: Integrat- ing symbolic planners and blackbox samplers via optimistic adaptive planning,","venue":null,"work_id":"fefb5cab-c03a-4b28-841b-5cd2d0d10eea","year":2020},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.886208Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:ce635fa3c723a25b3ac0b185fea45b7c2ab8c3680e654f7fd4fba25c4233b7a7","observation_id":"bc8eca89-460e-4269-93fd-3d4a8bbf2672","resolution":{"observed_at":"2026-08-07T05:37:21.326584Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.313242Z","title":"AutoTAMP: Au- toregressive task and motion planning with LLMs as translators and checkers,","venue":null,"work_id":"fb5b2204-cbde-4056-83a2-453fb16e7fae","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.890211Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:e8babb1e067236520b7af8d510c446b7aac614e5320ca1b5c707407ea52b7d68","observation_id":"3e07ca54-a7a4-40a0-b851-a3f7936d7dae","resolution":{"observed_at":"2026-08-07T05:37:21.317119Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.303488Z","title":"LOCUS 2.0: Robust and computationally efficient lidar odometry for real-time underground 3D mapping,","venue":null,"work_id":"e6f61632-5ff7-4f5a-9cdf-469ce0fc8c1a","year":2022},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.893450Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:a2668feaeb3451297df65a1f756b6dea1c993fa24f2b49abb51e5c07b5922ba5","observation_id":"b3685cab-53f0-4211-aaae-d62f1e93d7a5","resolution":{"observed_at":"2026-08-07T05:37:21.307035Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.293792Z","title":"Optimal transport aggregation for visual place recog- nition,","venue":null,"work_id":"6c61ad6d-1c01-41bf-8d4c-6300a0343c4d","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.896939Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:b65b18562078bca682272bb1c85b116c2147a626a5cec32e3b54cec07e130c2f","observation_id":"adb0888a-8ac1-4af7-877b-228285882117","resolution":{"observed_at":"2026-08-07T05:37:21.297353Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.283587Z","title":"Resilient and distributed multi-robot visual SLAM: Datasets, experi- ments, and lessons learned,","venue":null,"work_id":"a47e0c64-7a32-452e-926d-0b3ae9750e51","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.900227Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:35de19be55be61257549d51bde7d6bb1457aca1b8b6a422512fb70256f6a76db","observation_id":"4ce34915-39ee-410e-9c85-5c20789d745e","resolution":{"observed_at":"2026-08-07T05:37:21.287196Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.273462Z","title":"SuperPoint: Self-supervised interest point detection and description,","venue":null,"work_id":"e8c5e75a-f047-44f7-998b-f22e77a47b84","year":2018},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.903320Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:2fde04e55131e16a647fe4b2e6bd48c337d2d2f9507f6d3b2efe228b05df8343","observation_id":"315392bd-d0f1-47e8-9644-941ad1f58d40","resolution":{"observed_at":"2026-08-07T05:37:21.277139Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.262963Z","title":"LightGlue: Local Feature Match- ing at Light Speed,","venue":null,"work_id":"d75f9259-c7a2-4ef1-a66f-b5abffe04f66","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.906654Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:370282f9adff33f33faa87e11b135d4a06b1498164537a3b0bdad9621dae2215","observation_id":"ab269ee1-eb5a-42fa-b639-8ed89c57cdb9","resolution":{"observed_at":"2026-08-07T05:37:21.266631Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.251757Z","title":"3D scene graph: A structure for unified semantics, 3D space, and camera,","venue":null,"work_id":"28307904-d2c1-4bf2-b692-51014c8b7d95","year":2019},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.909828Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:9c831e78c5ff6400f1ca204f518fcb087a1199b73ec51755ae50eba47c6fa3f4","observation_id":"fb995531-bd8f-4731-b16f-31551bf80a47","resolution":{"observed_at":"2026-08-07T05:37:21.255360Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.241892Z","title":"Kimera: From SLAM to spatial perception with 3D dynamic scene graphs,","venue":null,"work_id":"91941744-ce6d-40a8-bff9-2f9f43bd15f9","year":2021},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.913055Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:022c5266db8c9cd486b5bd6103e24276970fcb0728bd077312e7624c9c5ea293","observation_id":"4ae8a89d-aa57-4b18-8ca0-467065151be5","resolution":{"observed_at":"2026-08-07T05:37:21.245444Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.231652Z","title":"S-graphs+: Real-time localization and mapping leveraging hierarchical representations,","venue":null,"work_id":"f8913a49-de46-4059-9cb2-7d754e85da2d","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.916639Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:b4a7d0e3af40fa038911ce76af2dbba80e9bd0fbf1e27cece41d58af9cd83f2e","observation_id":"0c13cc9d-01c5-4d06-b40c-99618f57bc3c","resolution":{"observed_at":"2026-08-07T05:37:21.235435Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.221956Z","title":"Clio: Real-time task-driven open-set 3D scene graphs,","venue":null,"work_id":"1e9888f1-de86-401c-8fbb-b252beb8340c","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.919957Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:f9600d2252ecea9eee46931679ea4a47adafd3d6016b10d86bb2b0ec39ffc11a","observation_id":"6e9e3d23-f457-427b-83d0-988577f4ad09","resolution":{"observed_at":"2026-08-07T05:37:21.225573Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.212494Z","title":"Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation,","venue":null,"work_id":"c22f8b12-6789-436e-a3f9-7037836083ef","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.923243Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:9026e0362b15db0094108f0deca079d8a1b236c8f30655e2d91e1612362c0fa5","observation_id":"6b8c36d1-95dd-4fa0-820a-16a10123c107","resolution":{"observed_at":"2026-08-07T05:37:21.215931Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.202777Z","title":"Taskography: Evaluating robot task planning over large 3D scene graphs,","venue":null,"work_id":"def4b3d5-31a2-4b7f-8a3a-24a820d62d9d","year":2022},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.926512Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:c9cd337591495ee49470470f9efb8a914480b994c75db7a21a5c4916ca525a6c","observation_id":"4622980f-deac-40b1-8f42-6234a3a58766","resolution":{"observed_at":"2026-08-07T05:37:21.206212Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.192548Z","title":"Language models as zero- shot planners: Extracting actionable knowledge for embodied agents,","venue":null,"work_id":"fcd693c6-027f-4419-ac5e-8d9963e3350d","year":2022},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.930086Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:fc19830227360ed9303df4dc3ac2cdbce385b7642ba036cf8b20ca96b2e90131","observation_id":"42784bd4-659a-4f62-9e5b-1f298ce052da","resolution":{"observed_at":"2026-08-07T05:37:21.196291Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.182236Z","title":"Do as I can, not as I say: Grounding language in robotic affor- dances,","venue":null,"work_id":"0ff49ae6-1698-4d15-87f0-dc68dd588fea","year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.933352Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:b5884ec4c1b935a9c7e6abc381b9b49a3074f57b2f36a004ded91aceaa0c8e8a","observation_id":"9263c03b-bc72-4301-8bb0-d497a53c7d40","resolution":{"observed_at":"2026-08-07T05:37:21.185756Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.171494Z","title":"PDDL planning with pretrained large language models,","venue":null,"work_id":"94352730-0292-4e05-bcec-097eb154aaab","year":2022},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.936721Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:371f7b41dc1d656554dc53fd73d054d564f5a81f14959d57f84735c3fa6870a7","observation_id":"5905b377-ef8a-403b-a10b-3ee5f27ede9e","resolution":{"observed_at":"2026-08-07T05:37:21.175119Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.160958Z","title":"Large language models still can’t plan (a benchmark for LLMs on planning and reasoning about change),","venue":null,"work_id":"e4e9511b-7732-40c2-a94e-56f7a090661d","year":2022},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.940117Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:c6342eacc84ec88efc3767582f09cc2d042b6a74499d261109ee42cbb800f397","observation_id":"dc9400bd-08b5-469d-91c4-e13e71d094f6","resolution":{"observed_at":"2026-08-07T05:37:21.164675Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2302.05128","last_updated":"2023-02-10T09:17:52Z","snapshot_observed_at":"2026-08-14T19:53:43.156101Z","submitted_at":"2023-02-10T09:17:52Z","title":"Translating Natural Language to Planning Goals with Large-Language Models","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2302.05128","snapshot_observed_at":"2026-08-07T05:37:20.943860Z","title":"Translating natural language to planning goals with large-language models,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.943860Z"},"links":{"cited_paper":"/paper/2302.05128","citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:8064e53801a93bec56e0dd7f849e338a0a3cfd138e7023418117a5f568c611d2","observation_id":"85488974-2793-4453-8ba4-748ced7ce7e7","resolution":{"observed_at":"2026-08-07T05:37:20.943860Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2304.11477","last_updated":"2023-09-27T07:29:44Z","snapshot_observed_at":"2026-08-12T21:21:48.006892Z","submitted_at":"2023-04-22T20:34:03Z","title":"LLM+P: Empowering Large Language Models with Optimal Planning Proficiency","version":3},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2304.11477","snapshot_observed_at":"2026-08-07T05:37:20.947431Z","title":"LLM+P: Empowering large language models with optimal planning proficiency,","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.947431Z"},"links":{"cited_paper":"/paper/2304.11477","citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:4be56265937391baafdc9d8fa51f2cfc2dc53326df557d7481c7960af89531a3","observation_id":"22d2cf81-a879-427c-ab61-4b10dbd64b50","resolution":{"observed_at":"2026-08-07T05:37:20.947431Z","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":"2026-08-07T05:37:21.149174Z","title":"ORB: An efficient alter- native to SIFT or SURF,","venue":null,"work_id":"8d78995a-c55a-4188-a430-26cdee6075a4","year":2011},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.951180Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:ff0eab04651c493b950825a4fbc373331e83911ba6b1a5414e8daff3d37b0065","observation_id":"406784f2-60be-4c9a-a7f8-9021212b88fe","resolution":{"observed_at":"2026-08-07T05:37:21.153531Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.137948Z","title":"Bags of binary words for fast place recogni- tion in image sequences,","venue":null,"work_id":"782d7b9b-a4d0-4608-b821-9f14c80c516b","year":2012},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.955294Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:4460be4312354a34bcbcb67dda1ee20fe28e55aa6aa1a2c428600809f36b5486","observation_id":"bdafc927-0fbe-44f8-be0a-b4ab35816bba","resolution":{"observed_at":"2026-08-07T05:37:21.141702Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.127720Z","title":"SuperGlue: Learn- ing feature matching with graph neural networks,","venue":null,"work_id":"d689e2bd-eda7-4c93-893a-26c66bc85a50","year":2020},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.958726Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:833b771b7fc3825a0285adf81c9856b870e78a27b9ff0b321854fc1771eb9989","observation_id":"15804900-3f71-4cb9-a5ca-9c5407faaf0e","resolution":{"observed_at":"2026-08-07T05:37:21.131246Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.117065Z","title":"X-view: Graph- based semantic multi-view localization,","venue":null,"work_id":"07738efc-3304-4cda-a2b3-93b6fc60eb82","year":2018},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.962237Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:e6cc428615bbd8c681f71ad76bf10ba320b27185e92ffc6be19141aaa3b05a41","observation_id":"ffcf3d88-c3f9-4856-8f80-abc90588335f","resolution":{"observed_at":"2026-08-07T05:37:21.120822Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:20.965518Z","title":"SlideSLAM: Sparse, lightweight, decentralized metric-semantic SLAM for multi-robot navigation,","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.965518Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:60f59ed33cf09fdaabc1168922c685aea1c61ce34c422124927452d65fafacb5","observation_id":"8ea1e6ac-8698-44af-8c40-92f9d7efdbb4","resolution":{"observed_at":"2026-08-07T05:37:20.965518Z","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":"2026-08-07T05:37:21.106811Z","title":"GOReloc: Graph-based object-level relocal- ization for visual SLAM,","venue":null,"work_id":"0e9d43f1-fc33-4526-91a6-0f0f68617a40","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.968971Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:680d6babfb0e4e0b07dd5c95187ffba648cba8470e15df0d1ae325dad3b0d48d","observation_id":"b8680f57-ce20-4a0c-b91d-74a52b004e70","resolution":{"observed_at":"2026-08-07T05:37:21.110406Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+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":"2026-08-07T05:37:21.094399Z","title":"CLIPPER: Robust data association without an initial guess,","venue":null,"work_id":"eab63e07-7e41-4792-a837-f51053a31454","year":2024},"citing_paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs","version":2},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-07T05:37:20.972636Z"},"links":{"citing_paper":"/paper/2506.07454"},"observation_digest":"sha256:45314c0554cfdd4990f34768df384f3f0d15b1395fd70699c630e4d1e43c6911","observation_id":"73d50ce6-c7e3-4db0-9b5f-021758288499","resolution":{"observed_at":"2026-08-07T05:37:21.099818Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-15T06:32:42.880941+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"2506.07454","last_updated":"2025-07-10T23:26:07Z","latest_version":2,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-14T19:54:45.283201Z","submitted_at":"2025-06-09T06:02:34Z","title":"Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs"},"reference_resolution":{"displayed":37,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":3,"verified_exact":0,"verified_fuzzy":34},"total_outbound_references":37},"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":"2026-08-15T06:32:42.880941+00:00","source":"crossref"},{"observed_at":"2026-08-15T06:32:39.529945+00:00","source":"retraction_watch"}],"thesis":"As of 15 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 3 inbound Pith citation observations for arXiv:2506.07454."}