Paper Citation Record · LEDGER

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner

As of 14 August 2026, this Paper Citation Record lists 32 of 32 outbound references and 0 inbound Pith citation observations for arXiv:2506.21030.

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

pith.paper-citation-record.v1
2506.21030 v2

Coverage vector

measured 32 of 32 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T22:40:01.283323Z

measured 32 of 32 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-14T06:32:32.682623+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

32 of 32 outbound references displayed

verified exact2
verified fuzzy3
unresolved27
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 8b30b27a-26c8-474e-8e4f-941b629cf82c · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 1

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:05.300786Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 20200885-d63a-4255-ad07-6c9f354f3a34 · outbound

This paper cites VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions

Reference 2

Resolution: verified exact; local_arxiv, observed 2026-08-06T22:40:02.032238Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation a060ce7d-3ec9-429a-ad62-84f1f6d556ca · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 3

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:05.044043Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 2a0c4834-8f89-4006-92c2-50ca33caa3de · outbound

This paper cites Fmimic: Foundation models are fine-grained action learners from human videos.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Fmimic: Foundation models are fine-grained action learners from human videos

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:40:04.834052Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 0fb90245-e88b-4919-83e6-e3f850d75295 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 5

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:04.688357Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation f8ddf503-daf8-4644-826a-c327fa0d1788 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 6

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:04.465876Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 096bd64d-a62d-4161-bb36-296661368ac4 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 7

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:04.272144Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b9abbbc6-723e-4b45-940a-07eb4d748037 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 8

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:04.070395Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 7c57364a-ed26-4469-a7f5-c06239798c76 · outbound

This paper cites Reasoning with Language Model is Planning with World Model.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Reasoning with Language Model is Planning with World Model

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-06T22:39:59.442249Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d82995b7-d5e8-4caa-a8e9-e6f99a2786cb · outbound

This paper cites Unifying latent action and latent state pre-training for policy learning from videos.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unifying latent action and latent state pre-training for policy learning from videos

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:40:03.843518Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation be33f812-7ac5-41cb-be64-cc500142d3a1 · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-06T22:39:59.621021Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 96fbb2b5-018d-4ffa-bd63-a33e0a10c7a0 · outbound

This paper cites Graphmimic: Graph-to-graphs generative modeling from videos for policy learning.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Graphmimic: Graph-to-graphs generative modeling from videos for policy learning

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:40:03.685141Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 6d7affdf-a0c0-4d13-9f95-f5ff4e00f5f2 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 13

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:03.461977Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 30cfa82d-c8da-49b5-ae7a-a4ada43aa366 · outbound

This paper cites ReAct: Synergizing Reasoning and Acting in Language Models.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner ReAct: Synergizing Reasoning and Acting in Language Models

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-06T22:39:59.832957Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 30517e7b-52b5-4344-9036-3e3063269129 · outbound

This paper cites Do As I Can, Not As I Say: Grounding Language in Robotic Affordances.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-06T22:39:59.900867Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fc1d0d38-905e-4bb5-a29f-da2599d7169b · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:03.220386Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8f10b010-9b27-4d64-8e75-5d456dc3300c · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 17

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:03.026144Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 382e32d4-ef31-4c4e-bac5-259cbeda5a92 · outbound

This paper cites Inner Monologue: Embodied Reasoning through Planning with Language Models.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Inner Monologue: Embodied Reasoning through Planning with Language Models

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.139897Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8c3ffeee-e356-41e7-ad7f-7375be3c33a2 · outbound

This paper cites Human Demonstrations are Generalizable Knowledge for Robots.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Human Demonstrations are Generalizable Knowledge for Robots

Reference 19

Resolution: verified exact; local_arxiv, observed 2026-08-06T22:40:01.809347Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 39d2a8d9-e4d9-4671-84da-f01fb34ac10d · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.315188Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bd8cab34-0cd6-42f8-ac31-a22e79b048ac · outbound

This paper cites GPT-4 Technical Report.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner GPT-4 Technical Report

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.378216Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d9aef3be-a478-4eb4-94ca-453f969f06b2 · outbound

This paper cites Self-Consistency Improves Chain of Thought Reasoning in Language Models.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Self-Consistency Improves Chain of Thought Reasoning in Language Models

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.461136Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1344b786-d89b-46af-aff5-56afcd5f3528 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 23

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:02.871613Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b70bb514-3ef4-4e53-a9a2-4f9d255fc8ef · outbound

This paper cites PPL-MCTS: Constrained Textual Generation Through Discriminator-Guided MCTS Decoding.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner PPL-MCTS: Constrained Textual Generation Through Discriminator-Guided MCTS Decoding

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.644914Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 490014e3-00d3-4ded-87d8-9b4463e1d633 · outbound

This paper cites Don't Generate, Discriminate: A Proposal for Grounding Language Models to Real-World Environments.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Don't Generate, Discriminate: A Proposal for Grounding Language Models to Real-World Environments

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.681332Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5f85f91a-fbdf-40ef-b352-581f9477bf12 · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 26

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:02.700378Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 1e615873-8bf1-4611-866f-5ac7b65f19f1 · outbound

This paper cites The pitfalls of next-token prediction.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner The pitfalls of next-token prediction

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.827394Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37a1e94a-2989-4201-a29b-fc1e6c6b17ac · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 28

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:02.432995Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation e175160c-1fac-4436-ad86-a37f9cffca03 · outbound

This paper cites LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:00.993250Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b2d3a5c9-2a18-41b6-ab88-b7176101b5ce · outbound

This paper cites an unresolved cited work.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Unresolved cited work

Reference 30

Resolution: unresolved; raw_fallback, observed 2026-08-06T22:40:02.210257Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation cc482954-532f-4ec4-8147-f943a3a52664 · outbound

This paper cites Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner Embodied Agent Interface: Benchmarking LLMs for Embodied Decision Making

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:01.167260Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 272359da-d912-463a-b406-71075c6e8f86 · outbound

This paper cites RoboScript: Code Generation for Free-Form Manipulation Tasks across Real and Simulation.

STEP Planner: Constructing cross-hierarchical subgoal tree as an embodied long-horizon task planner RoboScript: Code Generation for Free-Form Manipulation Tasks across Real and Simulation

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-06T22:40:01.283323Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.