Paper Citation Record · LEDGER

Supervised Mixture-of-Experts for Surgical Grasping and Retraction

As of 11 August 2026, this Paper Citation Record lists 39 of 39 outbound references and 3 inbound Pith citation observations for arXiv:2601.21971.

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

pith.paper-citation-record.v1
2601.21971 v2

Coverage vector

measured 39 of 39 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-16T09:30:17.251223Z

measured 42 of 42 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-10T06:31:04.303077+00:00

measured 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-02T13:05:19.116583Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-07-01T21:06:14.793600Z

Reference resolution

39 of 39 outbound references displayed

verified exact13
verified fuzzy21
unresolved3
parse uncertain0
malformed identifier1
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 3eaf299c-bcfc-4488-af64-b127dc4aab02 · outbound

This paper cites LeRobot: An Open-Source Library for End-to-End Robot Learning.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction LeRobot: An Open-Source Library for End-to-End Robot Learning

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.701965Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 742deddc-5ec0-4e34-948c-bbe9b795654d · outbound

This paper cites an unresolved cited work.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Unresolved cited work

Reference 2

Resolution: unresolved; raw_fallback, observed 2026-05-16T09:30:48.692948Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 4c26cc0c-7b3f-44fa-8100-9ffcf597326e · outbound

This paper cites URL https://proceedings.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction URL https://proceedings

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.690839Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 270c434e-3fe9-4c62-bf9e-a4cd3367342e · outbound

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

Supervised Mixture-of-Experts for Surgical Grasping and Retraction $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.158657Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 558965a1-8857-4bb5-9e1c-7801ff2c0418 · outbound

This paper cites Variational inference: A review for statisticians.Journal of the American Statistical Association.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Variational inference: A review for statisticians.Journal of the American Statistical Association

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.699573Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation bfd2d920-ba7e-4a09-b46d-9b13b312c2fb · outbound

This paper cites RT-1: Robotics Transformer for Real-World Control at Scale.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction RT-1: Robotics Transformer for Real-World Control at Scale

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.686219Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 471d4cc9-1d32-4b8f-a659-25b398e8707b · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, page 02783649241273668.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, page 02783649241273668

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.681724Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 09a0d3fc-5ee0-435d-9059-fec1ad5c4c19 · outbound

This paper cites The role of the assistant in laparoscopic surgery: important considerations for the apprentice-in-training.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction The role of the assistant in laparoscopic surgery: important considerations for the apprentice-in-training

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.674842Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation e785589b-8639-4fd4-866e-d22cb2cec681 · outbound

This paper cites The perioperative care collaborative position statement: surgical first assistant.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction The perioperative care collaborative position statement: surgical first assistant

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.677254Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a274319f-b821-4250-9c96-77038a1296bf · outbound

This paper cites Ablation- CAM: Visual explanations for deep convolutional net- work via gradient-free localization.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Ablation- CAM: Visual explanations for deep convolutional net- work via gradient-free localization

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.679407Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 5ce90112-f393-4b6c-9c3b-dcb3a2fa8c1d · outbound

This paper cites Using 3D convolutional neural networks to learn spatiotemporal features for automatic surgical gesture recognition in video.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Using 3D convolutional neural networks to learn spatiotemporal features for automatic surgical gesture recognition in video

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.684013Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 765ea106-2e1f-4cef-b91c-7856ef641de8 · outbound

This paper cites SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing

Reference 12

Resolution: verified exact; arxiv_id, observed 2026-05-16T09:30:48.147805Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation a2fb3d91-85f9-4cd8-b81b-2ed80126849d · outbound

This paper cites beta-V AE: Learning basic visual concepts with a constrained variational framework.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction beta-V AE: Learning basic visual concepts with a constrained variational framework

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.706205Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation bda15058-10b3-43c5-b2c2-cab8408c11f8 · outbound

This paper cites Adaptive mixtures of local experts.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Adaptive mixtures of local experts

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.725194Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation e485672b-3080-4039-8da7-af96aa7772ad · outbound

This paper cites Hierarchical mixtures of experts and the EM algorithm.Neural computation, 6(2):181–214.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Hierarchical mixtures of experts and the EM algorithm.Neural computation, 6(2):181–214

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.720837Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation e0453544-7f8a-4414-a230-f3dd50eda92d · outbound

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Supervised Mixture-of-Experts for Surgical Grasping and Retraction Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-05-16T09:30:48.722831Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation bf6bccdf-2895-41cf-a895-f0984976c98e · outbound

This paper cites an unresolved cited work.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Unresolved cited work

Reference 17

Resolution: verified exact; doi, observed 2026-05-16T09:30:47.980086Z

Source-reported events for the cited work

correction dated 2015-07-13. Source: crossref record 10.1007/s00464-015-4383-7->10.1007/s00464-015-4094-0:correction, observed 2026-07-11T02:58:00.485488+00:00. This notice travels one citation hop only.

Observation dca03410-4ea0-445d-967b-cb0845eff4e8 · outbound

This paper cites DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Reference 18

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.177320Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 1fb5d164-791f-494d-a727-e7b03a7b69ad · outbound

This paper cites Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

Reference 19

Resolution: verified exact; arxiv_id, observed 2026-05-16T09:30:48.171401Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 848cec11-d816-4447-959f-bfa8141d60cd · outbound

This paper cites SRT-H: A hierarchical framework for autonomous surgery via language-conditioned imitation learning.Science robotics, 10(104):eadt5254.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction SRT-H: A hierarchical framework for autonomous surgery via language-conditioned imitation learning.Science robotics, 10(104):eadt5254

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.711668Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 72e46cdd-8a0c-4247-a1f3-11a04bd658ed · outbound

This paper cites Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Reference 21

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.172595Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation de7b3a66-53ea-4eb6-b23a-a73e17d3057e · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction OpenVLA: An Open-Source Vision-Language-Action Model

Reference 22

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.174593Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 613b7f8c-e674-4dee-add3-9a99f06aa160 · outbound

This paper cites Auto-Encoding Variational Bayes.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Auto-Encoding Variational Bayes

Reference 23

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.161372Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 16149877-0388-458b-b380-524d37be0b8b · outbound

This paper cites Trends and outcomes of robotic surgery for gastrointesti- nal (GI) cancers in the USA: maintaining perioperative and oncologic safety.Surgical Endoscopy, 34(11):4932– 4942.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Trends and outcomes of robotic surgery for gastrointesti- nal (GI) cancers in the USA: maintaining perioperative and oncologic safety.Surgical Endoscopy, 34(11):4932– 4942

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.713892Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation e867d826-4916-4c85-a6ed-5795207ec7c8 · outbound

This paper cites Surgical embodied intelligence for generalized task autonomy in laparo- scopic robot-assisted surgery.Science Robotics, 10(104): eadt3093.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Surgical embodied intelligence for generalized task autonomy in laparo- scopic robot-assisted surgery.Science Robotics, 10(104): eadt3093

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.718518Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation f7741249-6ac6-4dbd-862e-bc84e8578e46 · outbound

This paper cites Surgical data science for next- generation interventions.Nature Biomedical Engineer- ing, 1(9):691–696.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Surgical data science for next- generation interventions.Nature Biomedical Engineer- ing, 1(9):691–696

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.709168Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0b7570fb-944e-4399-8b97-f4892d1f6d6d · outbound

This paper cites Octo: An Open-Source Generalist Robot Policy.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Octo: An Open-Source Generalist Robot Policy

Reference 27

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.176088Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 10df8085-b489-4e1b-a8f7-d220c375f1d5 · outbound

This paper cites Open X-Embodiment: Robotic Learning Datasets and RT-X Models.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Reference 28

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.151640Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 456e39be-4de0-41d7-b938-2211260db9cb · outbound

This paper cites an unresolved cited work.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Unresolved cited work

Reference 29

Resolution: unresolved; raw_fallback, observed 2026-05-16T09:30:48.703919Z

Source-reported events for the cited work

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Observation f6e8c49b-1f4f-41e9-9f9b-b548a1219b0d · outbound

This paper cites FAST: Efficient Action Tokenization for Vision-Language-Action Models.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.168225Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 38e9eb5c-a576-4b53-812e-d3b51587e8c2 · outbound

This paper cites Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-16T09:30:48.158082Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 8f234ef6-8f4f-45e5-bdd0-2248587e41d1 · outbound

This paper cites Semi-Autonomous Robotic Assistance for Gallbladder Retraction in Surgery.IEEE Robotics and Automation Letters.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Semi-Autonomous Robotic Assistance for Gallbladder Retraction in Surgery.IEEE Robotics and Automation Letters

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.716038Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0ea42d29-dce6-4781-b715-c1390c6a831d · outbound

This paper cites SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

Reference 33

Resolution: verified exact; local_arxiv, observed 2026-05-16T09:30:48.165091Z

Source-reported events for the cited work

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Observation f87755c7-8005-42ad-8381-aca8a5247ea1 · outbound

This paper cites Germ: A generalist robotic model with mixture-of-experts for quadruped robot.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Germ: A generalist robotic model with mixture-of-experts for quadruped robot

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.727543Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation fd6edf5f-5311-4ccc-852a-1f90ee6513f4 · outbound

This paper cites A surgical activity model of laparoscopic cholecystectomy for co-operation with col- laborative robots.Surgical Endoscopy, 38(8):4316–4328.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction A surgical activity model of laparoscopic cholecystectomy for co-operation with col- laborative robots.Surgical Endoscopy, 38(8):4316–4328

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.697225Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 7f796c7e-7a29-450f-8d3f-9fbb0bcc360b · outbound

This paper cites Offline imitation learning with sub- optimal demonstrations via relaxed distribution matching.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Offline imitation learning with sub- optimal demonstrations via relaxed distribution matching

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.694943Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 2f0e9c36-919b-4307-9d21-c1ea8c52b038 · outbound

This paper cites Louis, G.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Louis, G

Reference 37

Resolution: malformed identifier; doi_truncated, observed 2026-05-16T09:30:47.982161Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0ab12f94-4b44-41a2-92a5-6dbeadcb5f12 · outbound

This paper cites Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 38

Resolution: metadata mismatch; doi, observed 2026-05-16T09:30:47.977882Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 0f2f6a05-cf8b-44fc-bfe6-7760ac92e539 · outbound

This paper cites Variational distillation of diffusion policies into mixture of experts.Advances in Neural Information Processing Systems, 37:12739–12766.

Supervised Mixture-of-Experts for Surgical Grasping and Retraction Variational distillation of diffusion policies into mixture of experts.Advances in Neural Information Processing Systems, 37:12739–12766

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-05-16T09:30:48.688733Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Pith citing papers

Observation 8051b437-154c-4873-bac0-8e7bd93d9a71 · inbound

Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following cites this paper.

Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following Supervised Mixture-of-Experts for Surgical Grasping and Retraction

Reference 6

Resolution: verified exact; local_arxiv, observed 2026-06-29T11:43:24.219059Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.

Observation 60a06686-411b-467a-8d6c-e85904aa6506 · inbound

Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following cites this paper.

Imitation Learning for Robot Assistance in Open Surgery: A Multi-Policy Evaluation on Suture Following Supervised Mixture-of-Experts for Surgical Grasping and Retraction

Reference 2022

Resolution: unresolved; no resolver link, observed 2026-08-02T13:05:19.116583Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f63c9572-3e22-4bbf-ad83-701fb40c4fe9 · inbound

Learning Multi-Modal Trajectory Policies for Data-Efficient Robotic Manipulation cites this paper.

Learning Multi-Modal Trajectory Policies for Data-Efficient Robotic Manipulation Supervised Mixture-of-Experts for Surgical Grasping and Retraction

Reference 48

Resolution: verified exact; local_arxiv, observed 2026-07-01T21:06:14.795286Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-10T06:31:04.303077+00:00.