Paper Citation Record · LEDGER

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving

As of 15 August 2026, this Paper Citation Record lists 33 of 33 outbound references and 1 inbound Pith citation observation for arXiv:2508.01922.

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

pith.paper-citation-record.v1
2508.01922 v1

Coverage vector

measured 33 of 33 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T05:24:15.947868Z

measured 34 of 34 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 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-26T08:24:43.818202Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T10:49:46.773570Z

Reference resolution

33 of 33 outbound references displayed

verified exact5
verified fuzzy23
unresolved5
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 5b4d2494-0cf4-4d9f-8c93-8073da09a615 · outbound

This paper cites GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-06T05:24:11.497993Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7d323411-544f-4a5e-a843-df958408d01a · outbound

This paper cites Parting with misconceptions about learning-based vehicle motion planning,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Parting with misconceptions about learning-based vehicle motion planning,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:22.547110Z

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 03ee5665-6bad-4412-8197-690f4d02969e · outbound

This paper cites Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challenge

Reference 3

Resolution: verified exact; local_arxiv, observed 2026-08-06T05:24:17.285834Z

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 4ed699e2-53c4-4454-82d2-c0429382e119 · outbound

This paper cites Trafficbots: Towards world models for autonomous driving simulation and motion prediction,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Trafficbots: Towards world models for autonomous driving simulation and motion prediction,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:22.319939Z

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 3bc05597-e4a6-4a67-8e1a-d9dc0a6d20bf · outbound

This paper cites SMART: Scalable Multi-agent Real-time Motion Generation via Next-token Prediction.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving SMART: Scalable Multi-agent Real-time Motion Generation via Next-token Prediction

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-06T05:24:11.975109Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6723f899-71b9-489f-aba7-0fdaaec812a0 · outbound

This paper cites Large scale interactive motion forecasting for autonomous driving : The waymo open motion dataset,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Large scale interactive motion forecasting for autonomous driving : The waymo open motion dataset,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:21.953951Z

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 6cf9a0d0-8d6e-4873-a006-63603d863155 · outbound

This paper cites Nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:21.624199Z

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 daa0b4c4-34fa-40d3-8a2b-d75c9e69f4cf · outbound

This paper cites CARLA: An open urban driving simulator,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving CARLA: An open urban driving simulator,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-06T05:24:12.540382Z

Source-reported events for the cited work

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Observation 81293ddb-a88e-40eb-8c3d-c3ef67125375 · outbound

This paper cites SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-06T05:24:12.687149Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation abd916f8-a146-4d3e-8f0f-230e2fbe6040 · outbound

This paper cites Metadrive: Composing diverse driving scenarios for generalizable reinforcement learning,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Metadrive: Composing diverse driving scenarios for generalizable reinforcement learning,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:21.301423Z

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 fef9deb1-ffe1-4672-8a0c-10a979f03e73 · outbound

This paper cites Sim-to-real transfer in deep reinforcement learning for robotics: a survey,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Sim-to-real transfer in deep reinforcement learning for robotics: a survey,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:21.102703Z

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 aa4a7aa5-62f5-4d9b-9edd-c36e848e3884 · outbound

This paper cites Solving Motion Planning Tasks with a Scalable Generative Model.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Solving Motion Planning Tasks with a Scalable Generative Model

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-08-06T05:24:17.094975Z

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 3b4b3319-b512-4118-a6db-9ca9eee839f1 · outbound

This paper cites The waymo open sim agents challenge,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving The waymo open sim agents challenge,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:20.925886Z

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 ac6239e6-8b58-4edb-89e1-73cf46d9a079 · outbound

This paper cites Learning interactive driving policies via data-driven sim- ulation,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Learning interactive driving policies via data-driven sim- ulation,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:20.788574Z

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 2a5c5d68-0c77-4374-a378-fefa3463df11 · outbound

This paper cites KiGRAS: Kinematic-Driven Generative Model for Realistic Agent Simulation.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving KiGRAS: Kinematic-Driven Generative Model for Realistic Agent Simulation

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-08-06T05:24:16.845377Z

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 5e6d90d7-0a6b-4788-8bd5-7077af5c7e7e · outbound

This paper cites Vectorized representation dreamer (vrd): Dreaming-assisted multi- agent motion forecasting,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Vectorized representation dreamer (vrd): Dreaming-assisted multi- agent motion forecasting,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:20.603161Z

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 d5055c31-c3d0-46cf-9bab-a56a14482a25 · outbound

This paper cites Model- based imitation learning for urban driving,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Model- based imitation learning for urban driving,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:20.353009Z

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 c4aae59f-0356-4d75-8245-0961e1b08566 · outbound

This paper cites Dream to control: Learning behaviors by latent imagination,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Dream to control: Learning behaviors by latent imagination,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:20.175211Z

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 c6897984-15a4-4160-ba18-87465573238a · outbound

This paper cites Mastering atari with discrete world models,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Mastering atari with discrete world models,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:19.969361Z

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 764603ad-2235-4011-9127-216251ca042f · outbound

This paper cites TNT: Target- driven Trajectory Prediction,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving TNT: Target- driven Trajectory Prediction,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:19.609170Z

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 a93f15cd-6ad8-4722-810f-21bae79e5583 · outbound

This paper cites Simulation-based reinforcement learning for real-world autonomous driving,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Simulation-based reinforcement learning for real-world autonomous driving,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:19.489161Z

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 1b5e8d67-92da-4995-b286-326230bfe8f1 · outbound

This paper cites A deep q-network reinforce- ment learning-based model for autonomous driving,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving A deep q-network reinforce- ment learning-based model for autonomous driving,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:19.311373Z

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 edf4bef2-9852-4ca3-92b6-c2db07c8286d · outbound

This paper cites Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarios,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:19.066946Z

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 eb358a84-1226-4865-9ede-ec809eee836a · outbound

This paper cites Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Reinforcement Learning based Control of Imitative Policies for Near-Accident Driving,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:18.782440Z

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 976be8a4-475d-49ca-b6b1-f26eba34a670 · outbound

This paper cites A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning

Reference 25

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Source-reported events for the cited work

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Observation 5f6bcf0a-f130-4395-843a-4cdf67fcfa91 · outbound

This paper cites Toward causal representation learning,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Toward causal representation learning,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:18.548328Z

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 c539801b-896c-4728-8a53-e792e8c438ea · outbound

This paper cites Toward driving scene understanding: A dataset for learning driver behavior and causal reasoning,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Toward driving scene understanding: A dataset for learning driver behavior and causal reasoning,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:18.312217Z

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 bc204f6f-7e88-40b5-a39c-923950237513 · outbound

This paper cites Learning causal representations for robust domain adaptation,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Learning causal representations for robust domain adaptation,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:18.145857Z

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 76c256a9-1eaf-464b-86b2-b003299a96a1 · outbound

This paper cites Learning causal semantic representation for out-of-distribution prediction,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Learning causal semantic representation for out-of-distribution prediction,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:17.959251Z

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 31b92345-50b4-4e83-8308-4d67260fca71 · outbound

This paper cites Generative Causal Representation Learning for Out-of-Distribution Motion Forecasting.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Generative Causal Representation Learning for Out-of-Distribution Motion Forecasting

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-08-06T05:24:16.483988Z

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 bfdac10a-1bc3-4079-a07d-1d111990ec06 · outbound

This paper cites Sim-to-Real Causal Transfer: A Metric Learning Approach to Causally-Aware Interaction Representations.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Sim-to-Real Causal Transfer: A Metric Learning Approach to Causally-Aware Interaction Representations

Reference 31

Resolution: verified exact; local_arxiv, observed 2026-08-06T05:24:16.219298Z

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 c63ed510-a7f0-48d4-b9e3-7906806962af · outbound

This paper cites Causalagents: A robustness benchmark for motion forecasting,.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Causalagents: A robustness benchmark for motion forecasting,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:17.427225Z

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 4b6c860b-4c7e-4bfb-a7ba-89bb7b9f9ad8 · outbound

This paper cites Available: https://proceedings .neurips.cc/paper files/ paper/2021/file/310614fca8fb8e5491295336298c340f-Paper.pdf.

Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving Available: https://proceedings .neurips.cc/paper files/ paper/2021/file/310614fca8fb8e5491295336298c340f-Paper.pdf

Reference 6170

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T05:24:17.656505Z

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.

Pith citing papers

Observation 96418315-2d25-4bcb-99a8-f0902f264a3f · inbound

A Generative Model for Closed-Loop Microsimulation of Signalized Intersections cites this paper.

A Generative Model for Closed-Loop Microsimulation of Signalized Intersections Beyond Simulation: Benchmarking World Models for Planning and Causality in Autonomous Driving

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-07-04T10:49:46.774985Z

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.