{"as_of":"2026-08-14T12:56:00Z","caps":{"database_statements":6,"inbound":100,"outbound":100},"context_digest":"sha256:6155314946895dabe5e83e8aa91ec24b03fda13c8a9d40024e10eb150ea41ea2","coverage":[{"denominator":58,"lane":"reference_resolution","note":"Typed states for the displayed outbound observations.","records_observed":58,"source":"paper_references, paper_reference_links","source_observed_at":"2026-08-06T21:06:30.985200Z","state":"measured"},{"denominator":58,"lane":"standing_notices","note":"One-hop event checks from named stored sources.","records_observed":58,"source":"scholarly_work_events, retraction_status_cache","source_observed_at":"2026-08-14T06:32:32.682623+00:00","state":"measured"},{"denominator":0,"lane":"inbound_itemization","note":"Pith citing papers itemized under the disclosed page cap.","records_observed":0,"source":"paper_references, paper_reference_links","source_observed_at":null,"state":"measured"},{"denominator":1,"lane":"external_citation_measurements","note":"A source-named dated measurement, never combined with another source.","records_observed":0,"source":"cited_works","source_observed_at":null,"state":"measured"}],"external_citation_measurements":[],"inbound":[],"links":{"evidence":"/evidence","html":"/paper/2507.01152/citation-record","integrity":"/paper/2507.01152/integrity","json":"/paper/2507.01152/citation-record.json","paper":"/paper/2507.01152"},"outbound":[{"citation":{"cited_paper":{"arxiv_id":"1910.07113","last_updated":"2019-10-16T00:59:05Z","snapshot_observed_at":"2026-08-02T15:37:37.200292Z","submitted_at":"2019-10-16T00:59:05Z","title":"Solving Rubik's Cube with a Robot Hand","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"1910.07113","snapshot_observed_at":"2026-08-06T21:06:30.797905Z","title":"Solving rubik’s cube with a robot hand","venue":null,"work_id":null,"year":1910},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":1,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.797905Z"},"links":{"cited_paper":"/paper/1910.07113","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:3b463f43770c2f47c77376692e29d8324920c80749b576c97706a4ad4536c061","observation_id":"95aab2f9-a3f8-4679-9dc3-9a4acc744f20","resolution":{"observed_at":"2026-08-06T21:06:30.797905Z","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":"2026-08-06T21:06:31.515368Z","title":"Gan- based realistic bone ultrasound image and label synthesis for improved segmentation","venue":null,"work_id":"6397442f-3750-4168-8db2-c65e91d037f0","year":2020},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":2,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.802461Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:a156e476ac4d72b2c022c9814d4267fef26d2de68cdeb39ad52b7fad6c3fbcc6","observation_id":"3b313f7d-c2f3-4c82-a904-e51bf3233d1a","resolution":{"observed_at":"2026-08-06T21:06:31.519205Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.505826Z","title":"Saferplan: Safe deep reinforcement learning for intraoperative planning of pedicle screw placement","venue":null,"work_id":"a0ba07f0-5379-4f88-b1d4-4fd879051d88","year":2025},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":3,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.806809Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:e30a9b3592a41fe972e141139c3480b3c84e1f594511baca4016d52d2b2d5541","observation_id":"dd1906cb-effa-405a-bb20-d6f0f412627b","resolution":{"observed_at":"2026-08-06T21:06:31.509299Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.495598Z","title":"Real-time gpu-based ultrasound simulation using deformable mesh models","venue":null,"work_id":"1c0294da-a495-461e-8dc7-244729552c4e","year":2012},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":4,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.810010Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:788ef0f6202fa4509f588116e498ea4f612ed6bfd42c634163af5720f5d6e90c","observation_id":"785d7961-3a3e-45d0-87aa-8138044e84b8","resolution":{"observed_at":"2026-08-06T21:06:31.499487Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.486230Z","title":"Ultrasound image-to-video synthesis via latent dynamic diffusion models","venue":null,"work_id":"970f24c0-f913-406c-bcdf-17e3deb46637","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":5,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.813440Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:9630db3ab0718bb8172aa12a332dcfa52645e0128f5d949bc23c6e655ca27c04","observation_id":"afaf8f5f-e502-4c39-8a85-af9137746d34","resolution":{"observed_at":"2026-08-06T21:06:31.489806Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.816685Z","title":"Diffusion policy: Visuomotor policy learning via action diffusion","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":6,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.816685Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:93188f2f398b0c82e87f12019b9b4486931a5052eed90d564a22375a2036efae","observation_id":"d72ddba3-e7eb-459c-8ba3-94b60d3869a0","resolution":{"observed_at":"2026-08-06T21:06:30.816685Z","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":"2026-08-06T21:06:31.471879Z","title":"Pybullet, a python module for physics simulation for games, robotics and machine learning","venue":null,"work_id":"29e6d842-fbfc-4f2d-9ff4-b8b81d83f4c3","year":2016},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":7,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.820194Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:f817e4aa3528ecbaa3a1158bd25cc1700fc37f28f0a6df0224fd8191aedb39c9","observation_id":"15787c18-baa8-4d43-a26c-ae5a120df1d1","resolution":{"observed_at":"2026-08-06T21:06:31.475198Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.461907Z","title":"Diffusion as sound propagation: Physics-inspired model for ultrasound image generation","venue":null,"work_id":"9666b58f-fb7a-4464-a0a8-2815e72644dd","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":8,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.823092Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:be7d19c1f7568c9730d3e1dc11acb72dee2a343f5c788ef1059b4a883af1a02b","observation_id":"2992271e-20da-44cd-8a2c-fc4e6990f9be","resolution":{"observed_at":"2026-08-06T21:06:31.465654Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2501.05828","last_updated":"2025-08-27T15:03:30Z","snapshot_observed_at":"2026-08-10T21:04:06.971066Z","submitted_at":"2025-01-10T10:07:41Z","title":"UltraRay: Introducing Full-Path Ray Tracing in Physics-Based Ultrasound Simulation","version":3},"cited_work":{"arxiv_id":"2501.05828","doi":null,"metadata_source":"pith","pith_arxiv_id":"2501.05828","snapshot_observed_at":"2026-08-06T21:06:31.081244Z","title":"UltraRay: Introducing Full-Path Ray Tracing in Physics-Based Ultrasound Simulation","venue":"cs.CV","work_id":"69ed95ad-03fa-4121-a8d1-e525d6a9a205","year":2025},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":9,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.826206Z"},"links":{"cited_paper":"/paper/2501.05828","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:f324560c35b5fb81a8eac5d6d527a9a0c43112b0be48e8da9ef4fd783473d505","observation_id":"064df813-0fb0-456e-9c34-c01eb0f4c553","resolution":{"observed_at":"2026-08-06T21:06:31.085897Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.452385Z","title":"Sofa: A multi-model framework for interactive physical simulation","venue":null,"work_id":"9606d254-7edc-458c-b454-08ec574d0465","year":2012},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":10,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.829781Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:8a5f99afa3772ccda0b5476e38048139c4c3ffa61a9b0464b21625129df24296","observation_id":"301b1445-d60b-4317-8cb4-c69cd68227a3","resolution":{"observed_at":"2026-08-06T21:06:31.456215Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.833243Z","title":"Generative adversarial nets","venue":null,"work_id":null,"year":2014},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":11,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.833243Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:61539ff3ce2b0c321a024eafd5599d5fec4755ab700c54edd67599088e61f0e6","observation_id":"afd525f0-8158-49dd-b630-ffad81b114b9","resolution":{"observed_at":"2026-08-06T21:06:30.833243Z","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":"2026-08-06T21:06:31.435423Z","title":"Ultrasound-guided robotic navigation with deep reinforcement learning","venue":null,"work_id":"d19a543f-7604-4215-a645-73482df80e83","year":2020},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":12,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.836328Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:7647fdcf8689ab51f7a4c2c19f60ea7a35e46c4c108766ebf4ca9c8686ce3506","observation_id":"015130d2-5c42-4da8-96a6-f4309f2b1a32","resolution":{"observed_at":"2026-08-06T21:06:31.439425Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.839314Z","title":"Denoising diffusion probabilistic models","venue":null,"work_id":null,"year":2020},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":13,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.839314Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:133c8cfc206bc95c10e322d4e3eaaad6cc4f98c6e13d284bad26be0b6f933070","observation_id":"68f94dd0-ad83-431d-9858-57e4b3241a16","resolution":{"observed_at":"2026-08-06T21:06:30.839314Z","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":"2026-08-06T21:06:30.842379Z","title":"Learning agile and dynamic motor skills for legged robots","venue":null,"work_id":null,"year":2019},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":14,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.842379Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:57fba448cd1fcfdb849c34e9030e89646b17d95aaf1002b3d17a99dfdee2cf8c","observation_id":"b8a12f88-0fdf-42c4-bb4e-0e15a250c1d3","resolution":{"observed_at":"2026-08-06T21:06:30.842379Z","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":"2026-08-06T21:06:30.846004Z","title":"Image-to-image translation with conditional adversarial networks","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":15,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.846004Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:b7eb9d2e6731df8e48e593f85eed6e036c295c3e42b904c5774ad9760b1e5c00","observation_id":"1cc31d3e-6601-4eb0-984e-fcaeeb6f4cca","resolution":{"observed_at":"2026-08-06T21:06:30.846004Z","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":"2026-08-06T21:06:31.411117Z","title":"Mechanical and biological effects of ultrasound: a review of present knowledge","venue":null,"work_id":"8cab66ad-cf85-435a-bdfd-73be06bab5aa","year":2017},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":16,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.849142Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:efbd4016f0c4ad46232cf7bef4c8910d9b3026d7af8a83bb780a3971dc6eb4e8","observation_id":"d3dc1554-9f6f-44ec-acf7-7665b317cac6","resolution":{"observed_at":"2026-08-06T21:06:31.414420Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.402147Z","title":"Robotic ultrasound imaging: State-of-the-art and future perspectives","venue":null,"work_id":"93bfe0a8-5d84-4e84-9a5b-03c7e1491f35","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":17,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.853188Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:bdac87e3090aabc1870c28b6d494db88c771094724307972f62449a75ad8c92b","observation_id":"705d7fb7-666c-44dc-9fd2-42d277e8bf26","resolution":{"observed_at":"2026-08-06T21:06:31.405358Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.393375Z","title":"Scalable deep reinforcement learning for vision-based robotic manipulation","venue":null,"work_id":"9cd6bc84-0d0b-4416-8700-22a8d76a258e","year":2018},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":18,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.856262Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:76a3fc9ee1c99708ffb00df72d1154411ccc771b3a327ebd8697b23fda7c118e","observation_id":"1e58df83-b05b-4f57-8971-274597cfeb39","resolution":{"observed_at":"2026-08-06T21:06:31.396781Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.384813Z","title":"Generation of musculoskeletal ultrasound images with diffusion models","venue":null,"work_id":"8fb06378-609c-4ff1-a132-64d40cc8bab6","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":19,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.859490Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:9deaeabf03f5df106c16b141c5a8765b441c09510729993a763ae5c55c6385cc","observation_id":"ff5d2602-c533-4c92-b1e2-407c78f5e10c","resolution":{"observed_at":"2026-08-06T21:06:31.388129Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.375590Z","title":"An open-source research kit for the da vinci ® surgical system","venue":null,"work_id":"7f13ea23-5d09-4513-b6fd-b3a33eaf9a20","year":2014},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":20,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.863041Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:aa4bf3b5157c17e37d7d4830dda8a6fc03a168e78027c1ab140fb8b67890c1b1","observation_id":"6e5c830b-5c5c-4db7-bc04-8733ae7a45c6","resolution":{"observed_at":"2026-08-06T21:06:31.378949Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.367018Z","title":"Visualization and gpu-accelerated simulation of medical ultrasound from ct images","venue":null,"work_id":"7f863929-9794-4307-92ae-01106b792bc4","year":2009},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":21,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.866215Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:f73b5da4d04597d1873feccdc54512200bc36aac7ce95fb90c646b90ab4e382a","observation_id":"112e6f68-faa4-4c74-8317-4337f14e64b2","resolution":{"observed_at":"2026-08-06T21:06:31.370281Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.358067Z","title":"Realistic ultrasound synthesis based on diagnostic ct to facilitate ultrasound-guided robotic spine surgery","venue":null,"work_id":"2cd31756-c23c-44d9-905e-c7250498955a","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":22,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.869164Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:7033a792f78ec4fc0d0e53b891b37a4c4bc09a801576680797ec2bc4ba25cc5d","observation_id":"92727cd0-fc31-4416-8dc6-a963d1a770a1","resolution":{"observed_at":"2026-08-06T21:06:31.361748Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.349235Z","title":"Autonomous navigation of an ultrasound probe towards standard scan planes with deep re- inforcement learning","venue":null,"work_id":"1566bf3b-5cd1-404c-9c9c-47a426f4d3a1","year":2021},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":23,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.872461Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:9d9850578291f8f9a4b096c4739f0dec7a879687c94fdd2f38b6e23343ac023f","observation_id":"5332cfd8-8ab6-492f-934f-947bd633bf15","resolution":{"observed_at":"2026-08-06T21:06:31.352685Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.339937Z","title":"Robot-assisted ultrasound reconstruction for spine surgery: from bench-top to pre-clinical study","venue":null,"work_id":"068160fa-1953-40ee-9412-7856fe69be50","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":24,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.875400Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:4d036db2d108a97a78e6307358b6ad46efeb4927adbf35fc2e95a724f373ad8e","observation_id":"698bba0b-3f4d-4f53-8c02-a313fb37bcf0","resolution":{"observed_at":"2026-08-06T21:06:31.343287Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.330373Z","title":"Ultrasound- based robot-assisted drilling for minimally invasive pedicle screw placement.IEEE Transactions on Medical Robotics and Bionics, 6(3):818–828, 2024","venue":null,"work_id":"a8101f78-476f-45a4-a5ff-a05d14c4701a","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":25,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.878531Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:9fbad87eea715c0f6eda92ba02b148cb73fae0693642539f83a095ba7d81eef5","observation_id":"4ff2545a-0e1f-4731-9954-dfe2daa1bd95","resolution":{"observed_at":"2026-08-06T21:06:31.334028Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.320672Z","title":"Sketch guided and progressive growing gan for realistic and editable ultrasound image synthesis","venue":null,"work_id":"ecf32c25-b02f-45ea-a3c8-895534c35b34","year":2022},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":26,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.881590Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:588a559dadecd1806b00c795dc0b4b3d351fb845b92441f953cda47ca024ac1c","observation_id":"7578985a-5fd5-49f5-b214-b0f5ca82d5c7","resolution":{"observed_at":"2026-08-06T21:06:31.324179Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.311497Z","title":"Human-in-the-loop embodied intelligence with interactive simulation environment for surgical robot learning.IEEE Robotics and Automation Letters, 8(8):4441–4448, 2023","venue":null,"work_id":"dfe7c676-8fbe-4e73-aeb8-fce5b6bcaaaf","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":27,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.884881Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:b48f02f3ff2c87a34eac899f6cc21e03d5eccf6c066756a08ee283f2d6cb3787","observation_id":"9e66337f-c2c8-428e-aab2-29dd6d53fa4e","resolution":{"observed_at":"2026-08-06T21:06:31.315263Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2108.10470","last_updated":"2021-08-25T23:42:59Z","snapshot_observed_at":"2026-07-06T11:40:56.544714Z","submitted_at":"2021-08-24T01:38:11Z","title":"Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2108.10470","snapshot_observed_at":"2026-08-06T21:06:30.887859Z","title":"Isaac gym: High performance gpu-based physics simulation for robot learning","venue":null,"work_id":null,"year":2021},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":28,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.887859Z"},"links":{"cited_paper":"/paper/2108.10470","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:ba16fe0a29a34c8288bf8ece97f2f3343416e666e35d947aa2557c07ec81a702","observation_id":"76f1deb9-6fc6-4e6a-b71c-e9881d8081bb","resolution":{"observed_at":"2026-08-06T21:06:30.887859Z","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":"2026-08-06T21:06:31.302225Z","title":"Realistic ultrasound simulation of complex surface models using interactive monte-carlo path tracing","venue":null,"work_id":"eab759c8-69ea-41b7-a7c6-632596bbaf10","year":2018},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":29,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.891449Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:5e560bbf53291e9e50668074853204e12a5668587cc4fad7f2c891e335fb61d2","observation_id":"e8109010-9d54-46d3-ae37-db6c486d160d","resolution":{"observed_at":"2026-08-06T21:06:31.306153Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.894506Z","title":"Learning robust perceptive locomotion for quadrupedal robots in the wild","venue":null,"work_id":null,"year":2022},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":30,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.894506Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:eca455b289118010c8dbcae0311da713ea6d811c4c2864c6f097a4154bc1df0f","observation_id":"c7b3dc62-fc1b-4def-81b6-6dcbfb33469d","resolution":{"observed_at":"2026-08-06T21:06:30.894506Z","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":"2026-08-06T21:06:30.897675Z","title":"Orbit: A unified simulation framework for interactive robot learning environments","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":31,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.897675Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:1f13bb92390d9ef12068a18b642a2791c6f585a5fde1cf437208b24ad35770db","observation_id":"8347b49a-3086-4863-a5e9-308cbe70c52c","resolution":{"observed_at":"2026-08-06T21:06:30.897675Z","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":"2026-08-06T21:06:30.900833Z","title":"Asynchronous methods for deep reinforce- ment learning","venue":null,"work_id":null,"year":1928},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":32,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.900833Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:9c7fbe56fa92e17827049f0fbf54d7cac9aaf5e048e9fbc2d7573f27e6150f3d","observation_id":"12774284-c49b-4ded-97f8-502f681fbb5a","resolution":{"observed_at":"2026-08-06T21:06:30.900833Z","resolver_source":null,"status":"unresolved"},"standing_notice":{"events":[],"reason":"canonical_work_link_unavailable","source_receipts":[],"state":"unavailable"}},{"citation":{"cited_paper":{"arxiv_id":"2504.14857","last_updated":"2025-04-21T04:50:24Z","snapshot_observed_at":"2026-08-12T03:39:34.389096Z","submitted_at":"2025-04-21T04:50:24Z","title":"SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2504.14857","snapshot_observed_at":"2026-08-06T21:06:30.903819Z","title":"Sufia-bc: Generating high qual- ity demonstration data for visuomotor policy learning in surgical subtasks","venue":null,"work_id":null,"year":2025},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":33,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.903819Z"},"links":{"cited_paper":"/paper/2504.14857","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:fc3b73b74de7f2655c38d01ef2f0ce72b06cb49fa6bfe079a3aeda30ed86921a","observation_id":"87c6bb6b-f948-4251-a13f-3d1bbbb4e51b","resolution":{"observed_at":"2026-08-06T21:06:30.903819Z","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":"2026-08-06T21:06:31.278877Z","title":"Autonomic robotic ultrasound imaging system based on reinforcement learning","venue":null,"work_id":"57491350-8fce-41f7-aef2-3524c8c14af4","year":2021},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":34,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.907175Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:ee2192f8a3c3e1855df5c6392536716f77f9e09f2abe909045fd6511aa55f4b6","observation_id":"b87052be-b5a0-45de-8ef6-d8ccdd014c7f","resolution":{"observed_at":"2026-08-06T21:06:31.282286Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.269056Z","title":"Fast and automatic bone segmentation and registration of 3d ultrasound to ct for the full pelvic anatomy: a comparative study","venue":null,"work_id":"73f8a148-6e4f-4a96-a76d-80a90321a3fc","year":2018},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":35,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.910413Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:1e365b1f26ffd48069def8ab7812814272bb941d725589a7a0c67897678df389","observation_id":"342c7d8d-e44a-41fc-acbc-5dccacade082","resolution":{"observed_at":"2026-08-06T21:06:31.272643Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.259646Z","title":"Ultrasound- guided robotic surgical procedures: a systematic review","venue":null,"work_id":"bf878a36-8471-4f4f-a53d-41d7f6f941df","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":36,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.913361Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:8e08b18729df2d23025eaa138a533387850e06e7c2878236e42a66f5ffeb81c2","observation_id":"d40e2af7-133c-41b6-86be-a98f825ab4ab","resolution":{"observed_at":"2026-08-06T21:06:31.263284Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.250189Z","title":"Submodular rein- forcement learning","venue":null,"work_id":"54858055-4134-45a6-8913-f2136a5c86a3","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":37,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.917032Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:f5aa8e63db3026bb5180e53e5fa606ec3f47e6c76c1e2745e84fde3dd68cc0aa","observation_id":"455863ee-64dc-4a11-b305-bef892dd06d6","resolution":{"observed_at":"2026-08-06T21:06:31.253865Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.240296Z","title":"Patient-specific 3d ultrasound simulation based on convolutional ray-tracing and appearance optimization","venue":null,"work_id":"88e79bb7-9276-4f7b-99e9-1aa23fee6cb6","year":2015},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":38,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.919812Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:bdde59824d37b8161c7e95cf3d835efe581e358f7821bc597eb1f055bb33769e","observation_id":"7fbb86a8-7964-444f-bbb4-a71cd94ce797","resolution":{"observed_at":"2026-08-06T21:06:31.244071Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.230445Z","title":"Lapgym-an open source framework for reinforce- ment learning in robot-assisted laparoscopic surgery","venue":null,"work_id":"92cfd81b-0255-40be-bce5-12bc5389f17b","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":39,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.922896Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:907df18edec1e4ca5498c15f60d9e031226941b3426cf145577adb800629161b","observation_id":"41fa6b37-133b-4ff8-b2e6-ac1ebf35602c","resolution":{"observed_at":"2026-08-06T21:06:31.233964Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2310.04676","last_updated":"2024-01-27T18:07:37Z","snapshot_observed_at":"2026-08-14T09:41:18.486009Z","submitted_at":"2023-10-07T03:21:58Z","title":"Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots","version":2},"cited_work":{"arxiv_id":"2310.04676","doi":null,"metadata_source":"pith","pith_arxiv_id":"2310.04676","snapshot_observed_at":"2026-08-06T21:06:31.049402Z","title":"Surgical Gym: A high-performance GPU-based platform for reinforcement learning with surgical robots","venue":"cs.RO","work_id":"3c861f2f-4e0e-46c4-919b-2af2a3884d73","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":40,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.925877Z"},"links":{"cited_paper":"/paper/2310.04676","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:1dcaa0ddcfe5e06491bd90ae1991d84f6413100c73b0b7b923b3c8242a95dda2","observation_id":"d25d20c9-fe3f-41d7-b009-4077df0b450a","resolution":{"observed_at":"2026-08-06T21:06:31.053825Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.929159Z","title":"Proximal policy optimization algorithms, 2017","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":41,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.929159Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:dcf0d345a81e42dc36239a2b52bd8b32fc1b6f3c5a8f07aa594045ee5f48dc6b","observation_id":"2575e03e-50b9-4f8b-bbf3-fc4f63687c9f","resolution":{"observed_at":"2026-08-06T21:06:30.929159Z","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":"2026-08-06T21:06:31.215988Z","title":"skrl: Modular and flexible library for reinforcement learning","venue":null,"work_id":"fbd195be-4771-4e2a-8c4d-f74215d9e47c","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":42,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.932809Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:d180281e3de4cc7413ed1f1ea2e0ca4c1779e09cd3fd72d101a7abd676a32e83","observation_id":"9f5d7f19-35bf-40ad-923e-0e34be35aec2","resolution":{"observed_at":"2026-08-06T21:06:31.219231Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.206873Z","title":"Real-time simulation of medical ultrasound from ct images","venue":null,"work_id":"3ad92c9a-74ce-48ca-859c-bcd289d045c0","year":2008},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":43,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.936058Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:4a39e0dfa74c974287673dc4d780e50280b7bdaff038d5e9e097f347683947f2","observation_id":"81c26f88-dd05-4377-9789-6d708d48c815","resolution":{"observed_at":"2026-08-06T21:06:31.210264Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.939026Z","title":"Learning structured output representation using deep conditional generative models","venue":null,"work_id":null,"year":2015},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":44,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.939026Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:a27856715ce101c58126501778b09592910732af9dfe2bb358ddde5a7bdbddc0","observation_id":"6f465a62-c3b5-419a-9848-62668beb982c","resolution":{"observed_at":"2026-08-06T21:06:30.939026Z","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":"2026-08-06T21:06:31.192126Z","title":"S-cyclegan: Semantic segmentation enhanced ct-ultrasound image-to-image translation for robotic ultrasonography","venue":null,"work_id":"6bd6ab5e-9b99-4c55-9289-8482e6296035","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":45,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.941872Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:f68d901f5aa32d53273558d1d7c2d70da66f0c7ddefdfa1b21b0189fbee23ba7","observation_id":"d13e2788-cfca-4fea-b697-3791459eb0b6","resolution":{"observed_at":"2026-08-06T21:06:31.195746Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.182671Z","title":"Echo from noise: synthetic ultrasound image generation using diffusion models for real image segmentation","venue":null,"work_id":"f6a41592-5901-4081-86e9-74a02d5f8897","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":46,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.945718Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:1ea524fb5c91fe11b5998656957bc4ce6cbdd298b1ad34ecdf6f960e2d022f8f","observation_id":"dedc5320-1a75-4ed7-a268-9b57b33665c2","resolution":{"observed_at":"2026-08-06T21:06:31.186596Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"1804.10332","last_updated":"2018-05-16T20:35:34Z","snapshot_observed_at":"2026-08-09T17:52:18.841960Z","submitted_at":"2018-04-27T03:42:55Z","title":"Sim-to-Real: Learning Agile Locomotion For Quadruped Robots","version":2},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"1804.10332","snapshot_observed_at":"2026-08-06T21:06:30.948851Z","title":"Sim-to-real: Learning agile locomotion for quadruped robots","venue":null,"work_id":null,"year":2018},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":47,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.948851Z"},"links":{"cited_paper":"/paper/1804.10332","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:cfff61840048993a2e6a6f472da69058bb6d90222fe66e05f7d28b637bdb9b6c","observation_id":"303370c5-1f72-4d13-9881-93ea0b3b1a2c","resolution":{"observed_at":"2026-08-06T21:06:30.948851Z","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":"2026-08-06T21:06:30.952374Z","title":"Mujoco: A physics engine for model-based control","venue":null,"work_id":null,"year":2012},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":48,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.952374Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:2055d18fc33e6439e6c5248af40c8ee2380b8cfd63d374a03c33c11c644e684a","observation_id":"53d7a83c-5a53-4a44-a363-dcc6f271e8c8","resolution":{"observed_at":"2026-08-06T21:06:30.952374Z","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":"2026-08-06T21:06:31.168370Z","title":"Robotic path re-planning for us reconstruction of the spine","venue":null,"work_id":"cb74948f-2b51-4489-a388-c0e690003c78","year":2025},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":49,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.955185Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:565f3c9f45ec98ddfcec551dcde30ebc76a1885194fff62826c50396cbea00d2","observation_id":"18b1cd25-15df-4876-98fe-6b2f132f4f2a","resolution":{"observed_at":"2026-08-06T21:06:31.172147Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:30.958141Z","title":"Attention is all you need","venue":null,"work_id":null,"year":2017},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":50,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.958141Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:4a0ae5b8dc87d373fa2c11b21d20d5f0c8e1da2a1ad04296c43f827f9e1b0b98","observation_id":"b28de1cc-a286-4254-93dd-cccc9e797a6f","resolution":{"observed_at":"2026-08-06T21:06:30.958141Z","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":"2026-08-06T21:06:31.152294Z","title":"Follow the curve: Robotic ultrasound navigation with learning-based localization of spinous processes for scoliosis assessment","venue":null,"work_id":"68a8d0e9-e4c9-4a30-8d5d-1f3de2c0e8eb","year":2022},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":51,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.962421Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:c5cb320831bbeacc9a43bb3f2628052fb661515bfa52295d94cd76f7a2ee52fe","observation_id":"a314e9cf-89ea-42fd-ab32-b5fb6e4bdcbe","resolution":{"observed_at":"2026-08-06T21:06:31.156054Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.142553Z","title":"Totalseg- mentator: robust segmentation of 104 anatomic structures in ct images","venue":null,"work_id":"8091235b-1df6-4d8c-bfca-b13057276807","year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":52,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.965509Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:d56147dcd6e5a14d6ee698b79f06ff3fd9c2daf1f82a2db6e75fa428db108b5f","observation_id":"ae4af1a0-6bbb-40e7-a296-dec72779f1a8","resolution":{"observed_at":"2026-08-06T21:06:31.146084Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2502.03783","last_updated":"2025-06-04T14:49:21Z","snapshot_observed_at":"2026-08-14T09:41:23.035967Z","submitted_at":"2025-02-06T05:11:29Z","title":"UltraBones100k: A reliable automated labeling method and large-scale dataset for ultrasound-based bone surface extraction","version":4},"cited_work":{"arxiv_id":"2502.03783","doi":null,"metadata_source":"pith","pith_arxiv_id":"2502.03783","snapshot_observed_at":"2026-08-06T21:06:31.024435Z","title":"UltraBones100k: A reliable automated labeling method and large-scale dataset for ultrasound-based bone surface extraction","venue":"eess.IV","work_id":"8a88dd5f-93a0-4dc8-9726-41c24172b0e3","year":2025},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":53,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.968473Z"},"links":{"cited_paper":"/paper/2502.03783","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:ce419a77cd3fc22b046d6f913df0a35a477cbb68c565a2eae825a16d8c7b8e3b","observation_id":"b1516d03-c149-4e06-a49f-b90651dacc56","resolution":{"observed_at":"2026-08-06T21:06:31.029962Z","resolver_source":"local_arxiv","status":"verified_exact"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.131744Z","title":"Surrol: An open-source reinforcement learning centered and dvrk compatible platform for surgical robot learning","venue":null,"work_id":"3ce34697-ca58-4f36-8bef-41c7c14c5365","year":2021},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":54,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.972617Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:79b11b2c1d2b634733e43acbb50bbafa986f07ef05448c43c037d80bfe08e2ec","observation_id":"72853c4f-101d-4276-875e-44b16401b070","resolution":{"observed_at":"2026-08-06T21:06:31.136129Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.122123Z","title":"Orbit-surgical: An open-simulation framework for learning surgical augmented dexterity","venue":null,"work_id":"f048ee6b-f827-4002-b4c0-1d09092bd3ab","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":55,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.975620Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:a970b3d619a32f0f5b7d2d16e6f9671b4a783328b3a5ae05838ab04273a20255","observation_id":"8ed9ed5c-7b62-44a6-8ddd-f493074af38e","resolution":{"observed_at":"2026-08-06T21:06:31.125516Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}},{"citation":{"cited_paper":{"arxiv_id":"2304.13705","last_updated":"2023-04-23T19:10:53Z","snapshot_observed_at":"2026-08-03T01:22:01.078078Z","submitted_at":"2023-04-23T19:10:53Z","title":"Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware","version":1},"cited_work":{"arxiv_id":null,"doi":null,"metadata_source":null,"pith_arxiv_id":"2304.13705","snapshot_observed_at":"2026-08-06T21:06:30.978686Z","title":"Learning fine-grained bimanual manipulation with low-cost hardware","venue":null,"work_id":null,"year":2023},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":56,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.978686Z"},"links":{"cited_paper":"/paper/2304.13705","citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:1a289de6de7a9c16b7dcf0802a598bba632449588867417d34eb81bf169b1da2","observation_id":"dfbda450-2985-416a-b8c9-d3b4d249eea5","resolution":{"observed_at":"2026-08-06T21:06:30.978686Z","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":"2026-08-06T21:06:31.111251Z","title":"State-wise constrained policy optimization, 2024","venue":null,"work_id":"b0161961-f658-4c1d-a8ff-05d9007de362","year":2024},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":57,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.981884Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:3a2f18a1807e9620c119a27397e7e97c57c80c7d537dc024973b6ffaa9b16322","observation_id":"3b229d81-87f9-4d67-bf1d-d968e98958ff","resolution":{"observed_at":"2026-08-06T21:06:31.115597Z","resolver_source":"raw_fallback","status":"verified_fuzzy"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+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":"2026-08-06T21:06:31.101287Z","title":"Unpaired image-to-image translation using cycle-consistent adversarial networks","venue":null,"work_id":"fc4cb574-d9d1-43d0-ada4-3ef4bfc3230e","year":2017},"citing_paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound","version":1},"reference_index":58,"source":"pdf_text","source_observed_at":"2026-08-06T21:06:30.985200Z"},"links":{"citing_paper":"/paper/2507.01152"},"observation_digest":"sha256:73e3bf682a96cd079e65d20514ccc776e5e0a2fbaf5860a57d3b5d92e7b340d0","observation_id":"e0db3e9c-5afd-4622-9aa4-adfa86688b6c","resolution":{"observed_at":"2026-08-06T21:06:31.105134Z","resolver_source":"raw_fallback","status":"malformed_identifier"},"standing_notice":{"events":[],"observation":"No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.","reason":null,"source_receipts":[{"observed_at":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"state":"measured"}}],"paper":{"arxiv_id":"2507.01152","last_updated":"2025-07-01T19:23:00Z","latest_version":1,"primary_category":"cs.RO","snapshot_observed_at":"2026-08-13T17:05:38.628207Z","submitted_at":"2025-07-01T19:23:00Z","title":"SonoGym: High Performance Simulation for Challenging Surgical Tasks with Robotic Ultrasound"},"reference_resolution":{"displayed":58,"state_counts":{"malformed_identifier":1,"metadata_mismatch":0,"parse_uncertain":0,"unresolved":17,"verified_exact":3,"verified_fuzzy":37},"total_outbound_references":58},"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":"2026-08-14T06:32:32.682623+00:00","source":"crossref"},{"observed_at":"2026-08-14T06:32:18.44784+00:00","source":"retraction_watch"}],"thesis":"As of 14 August 2026, this Paper Citation Record lists 58 of 58 outbound references and 0 inbound Pith citation observations for arXiv:2507.01152."}