{"as_of":"2026-08-15T19:00:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:6679d64d0348415e9d0534c5c2c25376e7e2e53331295cfe1545b7d3807c4e54","coverage":[{"denominator":26,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":26,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-06T23:11:17.320968Z","state":"measured"},{"denominator":28,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":28,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-15T06:32:42.880941+00:00","state":"measured"},{"denominator":2,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":2,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-05T00:15:35.753816Z","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":"2026-05-10T11:00:04.112396Z","state":"measured"}],"external_citation_measurements":[],"inbound":[{"citation":{"cited_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"cited_work":{"arxiv_id":"2506.19269","doi":null,"metadata_source":"arxiv_reference","pith_arxiv_id":"2506.19269","snapshot_observed_at":"2026-06-05T21:23:00.469572Z","title":"arXiv preprint arXiv:2506.19269 (2025) 3","venue":null,"work_id":"90efd2e0-2a78-41b0-bfff-d19350102a33","year":2025},"citing_paper":{"arxiv_id":"2604.15281","last_updated":"2026-04-16T17:50:37Z","snapshot_observed_at":"2026-08-02T21:20:28.291912Z","submitted_at":"2026-04-16T17:50:37Z","title":"R3D: Revisiting 3D Policy Learning","version":1},"reference_index":51,"source":"pdf_text","source_observed_at":"2026-05-10T10:57:54.273960Z"},"links":{"cited_paper":"/paper/2506.19269","citing_paper":"/paper/2604.15281"},"observation_digest":"sha256:7700a4db760904dec6c55d4857db8786937d91a12ffa095e543e3715b6aaa35b","observation_id":"59dc6482-eeaf-428e-a841-962d441c369b","resolution":{"observed_at":"2026-05-10T11:00:04.113858Z","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"}},{"citation":{"cited_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2506.19269","snapshot_observed_at":"2026-08-05T00:15:35.753816Z","title":"Anchordp3: 3d affordance guided sparse diffusion policy for robotic manipulation.arXiv preprint arXiv:2506.19269, 2025","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2608.01603","last_updated":"2026-08-03T02:19:37Z","snapshot_observed_at":"2026-08-09T09:31:56.618297Z","submitted_at":"2026-08-03T02:19:37Z","title":"AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation","version":1},"reference_index":48,"source":"pdf_text","source_observed_at":"2026-08-05T00:15:35.753816Z"},"links":{"cited_paper":"/paper/2506.19269","citing_paper":"/paper/2608.01603"},"observation_digest":"sha256:cae80ccc86f55108d45d6ea5b549483d9bd4da94f914ec1a0b73fdb24f3c2b7b","observation_id":"a7ea78ae-fba3-4e11-8112-8d196f70fcd8","resolution":{"observed_at":"2026-08-05T00:15:35.753816Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}}],"links":{"evidence":"/evidence","html":"/paper/2506.19269/citation-record","integrity":"/paper/2506.19269/integrity","json":"/paper/2506.19269/citation-record.json","paper":"/paper/2506.19269"},"outbound":[{"citation":{"cited_paper":{"arxiv_id":"2506.18088","last_updated":"2025-08-27T17:52:42Z","snapshot_observed_at":"2026-08-01T01:17:47.017808Z","submitted_at":"2025-06-22T16:26:53Z","title":"RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2506.18088","snapshot_observed_at":"2026-08-06T23:11:16.444324Z","title":"Robotwin 2.0: A scalable data generator and benchmark with strong domain randomization for robust bimanual robotic manipulation.arXiv preprint arXiv:2506.18088, 2025","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:16.444324Z"},"links":{"cited_paper":"/paper/2506.18088","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:567aafdc338aebba7c95d3bced4a37584a556debde781e3d4650d9a3e048ff7c","observation_id":"4471679e-e67a-4117-9e6e-463fb1621211","resolution":{"observed_at":"2026-08-06T23:11:16.444324Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2310.17596","last_updated":"2023-10-26T17:17:31Z","snapshot_observed_at":"2026-08-13T22:05:40.944747Z","submitted_at":"2023-10-26T17:17:31Z","title":"MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2310.17596","snapshot_observed_at":"2026-08-06T23:11:16.538589Z","title":"Mimicgen: A data generation system for scalable robot learning using human demonstrations.arXiv preprint arXiv:2310.17596, 2023","venue":null,"work_id":null,"year":null},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:16.538589Z"},"links":{"cited_paper":"/paper/2310.17596","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:92ed07c6b14f084265f47f2fe9fa47cfae749bee048bd40d4da2ac4957f64e76","observation_id":"aaf4076e-cc93-4637-bd59-828d29495779","resolution":{"observed_at":"2026-08-06T23:11:16.538589Z","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":"2026-08-06T23:11:16.740428Z","title":"Denoising diffusion probabilistic models.Advances in neural information processing systems, 33:6840–6851, 2020","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:16.740428Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:fd85e30f6a30c6142e33ec72c2b3b2920bd0d580c7f04f04526e87d5fc096ac1","observation_id":"271ade25-6347-4793-a785-d1e4754ccb7b","resolution":{"observed_at":"2026-08-06T23:11:16.740428Z","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":"2026-08-06T23:11:16.903661Z","title":"High-resolution image synthesis with latent diffusion models","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:16.903661Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:50fc373ae5685a71d97a89b58fb66303c40af827b7a69672695560396c09dd41","observation_id":"479a3535-7a75-4ea4-acc6-032c70829ef7","resolution":{"observed_at":"2026-08-06T23:11:16.903661Z","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":"2026-08-06T23:11:16.995969Z","title":"Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, page 02783649241273668, 2023","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:16.995969Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:cbd814fcb9fb5a5b1e322c71cb4093157526641d501c9bb628456bc46964ce8c","observation_id":"28b1c061-5089-4a8a-952b-7e07d54edc49","resolution":{"observed_at":"2026-08-06T23:11:16.995969Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2409.00588","last_updated":"2024-12-09T21:30:07Z","snapshot_observed_at":"2026-07-06T02:11:23.670680Z","submitted_at":"2024-09-01T02:47:50Z","title":"Diffusion Policy Policy Optimization","version":3},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2409.00588","snapshot_observed_at":"2026-08-06T23:11:17.236709Z","title":"Diffusion policy policy optimization.arXiv preprint arXiv:2409.00588, 2024","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.236709Z"},"links":{"cited_paper":"/paper/2409.00588","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:c3854008c11fe5cdec199f2baeffc21395e3cb469effa202f5d9ec6578f8f213","observation_id":"37995f69-d47b-4275-a1db-5b665f4ac472","resolution":{"observed_at":"2026-08-06T23:11:17.236709Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2407.01812","last_updated":"2024-10-15T14:50:29Z","snapshot_observed_at":"2026-08-12T23:30:53.302070Z","submitted_at":"2024-07-01T21:23:26Z","title":"Equivariant Diffusion Policy","version":3},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2407.01812","snapshot_observed_at":"2026-08-06T23:11:17.241970Z","title":"Equivariant diffusion policy.arXiv preprint arXiv:2407.01812, 2024","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.241970Z"},"links":{"cited_paper":"/paper/2407.01812","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:12c7d96699c3ed9ca82c136aa8f884fba72e5d93c7a190476bea6522a837ab6f","observation_id":"ab5e0372-02d9-4fd5-8f58-0763496570d6","resolution":{"observed_at":"2026-08-06T23:11:17.241970Z","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":"2026-08-06T23:11:17.635194Z","title":"The theory of affordances:(1979)","venue":null,"work_id":"8cbd4daf-eeb4-496d-8a56-e3421139a54b","year":1979},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.246101Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:bc4dae05f35b5541c7d9b18a84d4cabc91828d4046199f963b1a9b92c985f2e8","observation_id":"64ea61b7-4333-46f2-9418-b22e675a88a8","resolution":{"observed_at":"2026-08-06T23:11:17.639310Z","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":"2026-08-06T23:11:17.620855Z","title":"Affordancenet: An end-to-end deep learning approach for object affordance detection","venue":null,"work_id":"1e28fa19-c246-42cd-a024-c63c6b8c117d","year":2018},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.250092Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:dbe4a4f484d6af6452d1c37bc3946a4525fbfaf11183853ed4cfd188d45d2a00","observation_id":"f3571a2a-48e7-4b43-999b-6e6e666772e4","resolution":{"observed_at":"2026-08-06T23:11:17.626086Z","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":"2026-08-06T23:11:17.607924Z","title":"Phrase-based affordance detection via cyclic bilateral interaction.IEEE Transactions on Artificial Intelligence, 4(5):1186–1198, 2022","venue":null,"work_id":"512b66e6-fb3e-4384-a54d-bb269962df67","year":2022},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.254263Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:a239431725662a38b861ace9eb7db0ae02576511307c46bf8bd92a75342e744c","observation_id":"891bdf13-a58b-488e-9e3f-433a78882eb7","resolution":{"observed_at":"2026-08-06T23:11:17.611675Z","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":"2026-08-06T23:11:17.595112Z","title":"Affordance grounding from demon- stration video to target image","venue":null,"work_id":"2ebbb430-e3d6-4851-bbe7-018da6437a06","year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.258176Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:6a7a174bee12aafbcc4b50130498e25c27614530714baf949770b93730c2c1b5","observation_id":"8b168530-2fef-4bde-acc5-2aab45c5d7bb","resolution":{"observed_at":"2026-08-06T23:11:17.598864Z","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":"2026-08-06T23:11:17.580558Z","title":"Locate: Localize and transfer object parts for weakly supervised affordance grounding","venue":null,"work_id":"d51fcc01-4aac-4045-b8f1-171df070e973","year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.262163Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:a9ad1e7a89977e77dec84c94030a7b3a5fa86e3bf68ae7f47aaae0e360ce5e65","observation_id":"25479948-eff8-4087-8f6f-df21c75890d8","resolution":{"observed_at":"2026-08-06T23:11:17.584449Z","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":"2026-08-06T23:11:17.568024Z","title":"Learning affordance grounding from exocentric images","venue":null,"work_id":"850968cd-0f6c-4fdc-b31c-484eb835726e","year":2022},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.266078Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:144d69bf1fb9f103fe93b7f5e29c0afa3cb49d755832279096c59f00c65e91ec","observation_id":"2614cbfb-67e0-412d-9eac-9b07bc2f93d0","resolution":{"observed_at":"2026-08-06T23:11:17.572066Z","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":"2026-08-06T23:11:17.555306Z","title":"Grounded human-object interaction hotspots from video","venue":null,"work_id":"5f1ee735-1beb-4806-85a0-2b42b3b5c6de","year":2019},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.269815Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:e139b0c224793401480791a247365523edeca2c9abef8c29fd5c91801983eecd","observation_id":"23941225-3d68-4f50-b70f-af5009dbd167","resolution":{"observed_at":"2026-08-06T23:11:17.559609Z","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":"2026-08-06T23:11:17.273378Z","title":"3d affordancenet: A benchmark for visual object affordance understanding","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.273378Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:175b964d0bf131d51e6593a3ef9bc705a42e36d975c632c4edfbfe92972577ec","observation_id":"8b0fa72b-8b82-4714-9eb5-0582d726e9fb","resolution":{"observed_at":"2026-08-06T23:11:17.273378Z","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":"2026-08-06T23:11:17.533066Z","title":"Grounding 3d object affordance from 2d interactions in images","venue":null,"work_id":"e49615bf-3d32-45cc-ab91-f535b44516d8","year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.277645Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:4c4a8257dd8fc66a9fe861d9c205b9921235c5b78d7bb5855abe31a5cc211479","observation_id":"058c5198-9c44-451a-8c45-65202a9a57b4","resolution":{"observed_at":"2026-08-06T23:11:17.537129Z","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":"2026-08-06T23:11:17.520233Z","title":"Open- vocabulary affordance detection in 3d point clouds","venue":null,"work_id":"74386797-c11c-4a75-8165-5692c7b00a7f","year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.281660Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:a1522af026e3c8ccbcb29e17db6ef36295a460a2ebca9df66fd478fcb41690f1","observation_id":"dd82aeac-dbf1-4ba1-b5e1-28225df4613a","resolution":{"observed_at":"2026-08-06T23:11:17.524170Z","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":"2212.06817","last_updated":"2023-08-11T17:45:27Z","snapshot_observed_at":"2026-07-06T02:11:23.670680Z","submitted_at":"2022-12-13T18:55:15Z","title":"RT-1: Robotics Transformer for Real-World Control at Scale","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2212.06817","snapshot_observed_at":"2026-08-06T23:11:17.288435Z","title":"Rt-1: Robotics transformer for real-world control at scale.arXiv preprint arXiv:2212.06817, 2022","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.288435Z"},"links":{"cited_paper":"/paper/2212.06817","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:7be369ac8035c08fd73f2ce43d4332c91b12cd0b9f53065d16770272d0f7d92e","observation_id":"b5b2651d-4eaa-44f5-869c-fab9aacd74c9","resolution":{"observed_at":"2026-08-06T23:11:17.288435Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2410.06158","last_updated":"2024-10-08T16:00:47Z","snapshot_observed_at":"2026-08-12T23:18:51.506083Z","submitted_at":"2024-10-08T16:00:47Z","title":"GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2410.06158","snapshot_observed_at":"2026-08-06T23:11:17.292943Z","title":"Gr-2: A generative video-language-action model with web-scale knowledge for robot manipulation.arXiv preprint arXiv:2410.06158, 2024","venue":null,"work_id":null,"year":null},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.292943Z"},"links":{"cited_paper":"/paper/2410.06158","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:a90aa928508d06565c0c8c73e570bd8d22ead4b4372fdeb3f8f49a806dfd09cd","observation_id":"7ec13d52-da31-4ccb-9917-c8efb31e6db8","resolution":{"observed_at":"2026-08-06T23:11:17.292943Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2410.24164","last_updated":"2026-01-08T17:01:05Z","snapshot_observed_at":"2026-07-06T02:11:23.670680Z","submitted_at":"2024-10-31T17:22:30Z","title":"$\\pi_0$: A Vision-Language-Action Flow Model for General Robot Control","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2410.24164","snapshot_observed_at":"2026-08-06T23:11:17.297116Z","title":"π0: A vision-language-action flow model for general robot control, 2024.URL https://arxiv","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.297116Z"},"links":{"cited_paper":"/paper/2410.24164","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:52f7318f4c576ee179ab64f909631f2f617e1156669a76a48b6d74cbd02d16f5","observation_id":"fa11a383-2ff0-40b1-a1cc-db0b15865296","resolution":{"observed_at":"2026-08-06T23:11:17.297116Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2412.14058","last_updated":"2026-02-13T02:05:15Z","snapshot_observed_at":"2026-08-05T18:48:10.679925Z","submitted_at":"2024-12-18T17:07:20Z","title":"What Matters in Building Vision-Language-Action Models for Generalist Robots","version":4},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2412.14058","snapshot_observed_at":"2026-08-06T23:11:17.301120Z","title":"Towards generalist robot policies: What matters in building vision-language- action models.arXiv preprint arXiv:2412.14058, 2024","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.301120Z"},"links":{"cited_paper":"/paper/2412.14058","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:d7b3d28f894f90ac060122cd24db5ff8945e59906e9daaf764f223799e765ed1","observation_id":"9bc2232c-eafe-4c93-871b-5836b07364e4","resolution":{"observed_at":"2026-08-06T23:11:17.301120Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2501.09747","last_updated":"2025-01-16T18:57:04Z","snapshot_observed_at":"2026-07-06T02:11:23.670680Z","submitted_at":"2025-01-16T18:57:04Z","title":"FAST: Efficient Action Tokenization for Vision-Language-Action Models","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2501.09747","snapshot_observed_at":"2026-08-06T23:11:17.305080Z","title":"Fast: Efficient action tokenization for vision-language-action models.arXiv preprint arXiv:2501.09747, 2025","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.305080Z"},"links":{"cited_paper":"/paper/2501.09747","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:f1bca4b3c917c0da624bd276ea6e1ea21247c326ba35016f2fa5d7dc672eaebb","observation_id":"26555558-bf8b-493b-85d7-712f1a213d73","resolution":{"observed_at":"2026-08-06T23:11:17.305080Z","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":"2026-08-06T23:11:17.507235Z","title":"On the continuity of rotation represen- tations in neural networks","venue":null,"work_id":"d177ea41-a046-4d85-a68a-0681ede50d1e","year":2019},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.308973Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:890409ced35a34febafdc58ce01c632c99860b8d8ac5cfa738a79300b522d66d","observation_id":"5f4f9382-48cb-4dec-9623-3fa1a3274157","resolution":{"observed_at":"2026-08-06T23:11:17.511284Z","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":"2026-08-06T23:11:17.494665Z","title":"Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 2023","venue":null,"work_id":"fdc9d475-f162-4a99-9af0-2c1e1407971a","year":2023},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.313280Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:08c2debf1a1d8e6a78c0b17ab549b0939d933af7be913adffd41fa2ba41e0b7f","observation_id":"a1f5910e-84d3-45be-9104-6617df72f981","resolution":{"observed_at":"2026-08-06T23:11:17.498450Z","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":"2403.03954","last_updated":"2024-09-27T02:43:48Z","snapshot_observed_at":"2026-08-01T16:34:39.855742Z","submitted_at":"2024-03-06T18:58:49Z","title":"3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations","version":7},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2403.03954","snapshot_observed_at":"2026-08-06T23:11:17.317329Z","title":"3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations.arXiv preprint arXiv:2403.03954, 2024","venue":null,"work_id":null,"year":2024},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.317329Z"},"links":{"cited_paper":"/paper/2403.03954","citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:28b601db1783b39101abd6ab88e4a6d4e2566e78424026b7aa15442e2cd9e929","observation_id":"b05b8e22-7f4b-46e3-9833-21c480da0e73","resolution":{"observed_at":"2026-08-06T23:11:17.317329Z","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":"2026-08-06T23:11:17.479595Z","title":"Visual reasoning with a general conditioning layer, courville","venue":null,"work_id":"7439a01c-50a6-4d84-b99a-3abcc8fb9fb0","year":2017},"citing_paper":{"arxiv_id":"2506.19269","last_updated":"2025-06-25T05:10:04Z","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation","version":2},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-06T23:11:17.320968Z"},"links":{"citing_paper":"/paper/2506.19269"},"observation_digest":"sha256:b3aad9ae31055daaf7cc2438494ad5107f13889900930de13e2d64a47fa7f5d6","observation_id":"41c797f1-f9d9-4439-a17a-23d83c3af804","resolution":{"observed_at":"2026-08-06T23:11:17.485200Z","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":"2506.19269","last_updated":"2025-06-25T05:10:04Z","latest_version":2,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-14T05:03:55.483919Z","submitted_at":"2025-06-24T03:03:26Z","title":"AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation"},"reference_resolution":{"displayed":26,"state_counts":{"malformed_identifier":0,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":14,"verified_exact":0,"verified_fuzzy":12},"total_outbound_references":26},"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 26 of 26 outbound references and 2 inbound Pith citation observations for arXiv:2506.19269."}