Paper Citation Record · LEDGER

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

As of 19 August 2026, this Paper Citation Record lists 35 of 35 outbound references and 4 inbound Pith citation observations for arXiv:2603.15257.

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

pith.paper-citation-record.v1
2603.15257 v2

Coverage vector

measured 35 of 35 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-04T05:51:29.007610Z

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 4 of 4 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-02T11:18:32.259684Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-03T10:48:02.219705Z

Reference resolution

35 of 35 outbound references displayed

verified exact0
verified fuzzy0
unresolved35
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malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 90173b98-2b57-4275-b521-92a1c20a35f6 · outbound

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

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing OpenVLA: An Open-Source Vision-Language-Action Model

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.916443Z

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Observation c9f5b8ef-e4cf-4755-a4f5-1e9912d8bc60 · outbound

This paper cites π0: A vision-language-action flow model for general robot control,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing π0: A vision-language-action flow model for general robot control,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.920338Z

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Observation b2bfa2a4-fe25-47e8-9a66-d4b92314ac36 · outbound

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

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.926341Z

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Observation 6a1df052-d7e4-4675-8834-7f7842876603 · outbound

This paper cites VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.929585Z

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Observation 85657e0f-0277-4968-a106-3d9a25dd5081 · outbound

This paper cites Mla: A multisensory language-action model for multimodal understanding and forecasting in robotic manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Mla: A multisensory language-action model for multimodal understanding and forecasting in robotic manipulation,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.932642Z

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Observation a234c51b-a5a4-4914-93f5-1c1eaa662f62 · outbound

This paper cites Omnivtla: Vision-tactile-language-action model with semantic-aligned tactile sensing,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Omnivtla: Vision-tactile-language-action model with semantic-aligned tactile sensing,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.935435Z

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Observation c0ccf6e2-76ee-4597-87b5-6dddd07bf8dd · outbound

This paper cites VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.938119Z

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Observation 6d7e7467-b108-4023-931e-581d186e49b9 · outbound

This paper cites Bitla: A bimanual tactile-language-action model for contact-rich robotic manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Bitla: A bimanual tactile-language-action model for contact-rich robotic manipulation,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.941171Z

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Observation 2b85a9a1-1677-46fa-8d23-f90661ec4f76 · outbound

This paper cites Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Beyond sight: Finetuning generalist robot policies with heterogeneous sensors via language grounding,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.943832Z

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Observation 9fccd402-5dfb-416b-aec3-60cf803dd431 · outbound

This paper cites Forcevla: Enhancing vla models with a force-aware moe for contact-rich manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Forcevla: Enhancing vla models with a force-aware moe for contact-rich manipulation,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.946361Z

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Observation 34f8c26e-2596-4c66-b408-3bac981455e2 · outbound

This paper cites Tactile-force alignment in vision-language-action models for force- aware manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Tactile-force alignment in vision-language-action models for force- aware manipulation,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.948784Z

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Observation af5db02e-e72b-4ca6-8bcc-2a1f31ed6f17 · outbound

This paper cites Fd-vla: Force-distilled vision-language-action model for contact-rich manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Fd-vla: Force-distilled vision-language-action model for contact-rich manipulation,

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.951438Z

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Observation 7271f9d3-a06c-4389-a06e-e75fe416a7e5 · outbound

This paper cites Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.953856Z

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Unavailable: canonical work link unavailable.

Observation ed908e63-4120-423b-99f3-185cdb8236f1 · outbound

This paper cites Low-fidelity visuo-tactile pre-training improves vision-only manipulation performance,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Low-fidelity visuo-tactile pre-training improves vision-only manipulation performance,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.956632Z

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Observation 9761a3f3-fc2e-4afb-bc34-77176a4f413e · outbound

This paper cites Reinforcement Learning for Flow-Matching Policies.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Reinforcement Learning for Flow-Matching Policies

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.959396Z

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Observation 328fdbae-d173-4933-b47c-d9bf5440b6c5 · outbound

This paper cites Online reward-weighted fine-tuning of flow matching with wasserstein reg- ularization,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Online reward-weighted fine-tuning of flow matching with wasserstein reg- ularization,

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.962047Z

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Observation 177ed4a9-1ec0-4312-b55d-5761fb25c9ca · outbound

This paper cites Flowrl: Matching reward distributions for llm reasoning,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Flowrl: Matching reward distributions for llm reasoning,

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.964413Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 523fe429-f1b8-4cb6-8c19-09b961db3bf4 · outbound

This paper cites Balancing Signal and Variance: Adaptive Offline RL Post-Training for VLA Flow Models.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Balancing Signal and Variance: Adaptive Offline RL Post-Training for VLA Flow Models

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.966906Z

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Unavailable: canonical work link unavailable.

Observation 52beae3c-9512-4673-aea6-ea68f20d0ad0 · outbound

This paper cites Flowram: Grounding flow matching policy with region-aware mamba framework for robotic manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Flowram: Grounding flow matching policy with region-aware mamba framework for robotic manipulation,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.969469Z

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Unavailable: canonical work link unavailable.

Observation 00eb2799-d19f-42b6-9c1f-d86ea024cf72 · outbound

This paper cites Reinflow: Fine-tuning flow matching policy with online reinforcement learning,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Reinflow: Fine-tuning flow matching policy with online reinforcement learning,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.972042Z

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Observation f0214ac5-5f6e-4864-9c92-380b3a034722 · outbound

This paper cites Meta-world: A benchmark and evaluation for multi-task and meta-reinforcement learning,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Meta-world: A benchmark and evaluation for multi-task and meta-reinforcement learning,

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.974624Z

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Observation fcd108fa-ee62-4a34-9f5e-22bc5b9ef15d · outbound

This paper cites Learning complex dexterous manipulation with deep reinforcement learning and demonstrations,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Learning complex dexterous manipulation with deep reinforcement learning and demonstrations,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.977083Z

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Observation fddf7671-d310-4608-852f-f6798a7ea73b · outbound

This paper cites X- distill: Cross-architecture vision distillation for visuomotor learning,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing X- distill: Cross-architecture vision distillation for visuomotor learning,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.979562Z

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Observation ece9bace-7a7a-45a8-93a0-59646f5730f7 · outbound

This paper cites Libero: Benchmarking knowledge transfer in lifelong robot learning,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Libero: Benchmarking knowledge transfer in lifelong robot learning,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.981980Z

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Observation 430a6271-cf01-4ccc-958e-70316ec0099b · outbound

This paper cites Evaluating Real-World Robot Manipulation Policies in Simulation.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Evaluating Real-World Robot Manipulation Policies in Simulation

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.984447Z

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Observation 9d7fea25-c0df-4bbd-8547-58437000e44f · outbound

This paper cites Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Calvin: A benchmark for language-conditioned policy learning for long-horizon robot manipulation tasks,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.987237Z

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Observation 552abac9-e88f-4c06-99a6-92e4a1b5fdce · outbound

This paper cites ActDistill: General Action-Guided Self-Derived Distillation for Efficient Vision-Language-Action Models.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing ActDistill: General Action-Guided Self-Derived Distillation for Efficient Vision-Language-Action Models

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.989779Z

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Observation cf7aabb4-df97-446c-ad8a-9396985a00af · outbound

This paper cites Dysl-vla: Effi- cient vision-language-action model inference via dynamic-static layer- skipping for robot manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Dysl-vla: Effi- cient vision-language-action model inference via dynamic-static layer- skipping for robot manipulation,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.992518Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 809303d0-e86a-42b4-bd52-18c5bb13a10a · outbound

This paper cites Robobrain: A unified brain model for robotic manipulation from abstract to concrete,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Robobrain: A unified brain model for robotic manipulation from abstract to concrete,

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.995003Z

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Observation e0badc25-c9d4-486e-9569-2ea54fd52113 · outbound

This paper cites Move-kd: Knowledge distillation for vlms with mixture of visual encoders,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Move-kd: Knowledge distillation for vlms with mixture of visual encoders,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.997506Z

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Observation b41a60fe-97de-4ea9-b587-7ad0dce311e9 · outbound

This paper cites Fedvla: Federated vision-language-action learning with dual gating mixture-of-experts for robotic manipulation,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Fedvla: Federated vision-language-action learning with dual gating mixture-of-experts for robotic manipulation,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.999968Z

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Observation e885dda3-72da-408b-8048-f2088e387bb6 · outbound

This paper cites Lerobot: State-of-the-art machine learning for real-world robotics in pytorch,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Lerobot: State-of-the-art machine learning for real-world robotics in pytorch,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:29.002389Z

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Observation 87e36c83-6c3e-43c3-b99f-10a5635b2458 · outbound

This paper cites X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:29.004868Z

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Unavailable: canonical work link unavailable.

Observation 4f75d3d2-2b4b-410c-80e1-4a3f01c7356f · outbound

This paper cites Vla-0: Building state-of-the-art vlas with zero modification,.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing Vla-0: Building state-of-the-art vlas with zero modification,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:29.007610Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d62ed05e-4f1e-4b7a-97e2-7c8732ef16d3 · outbound

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

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.923296Z

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Unavailable: canonical work link unavailable.

Pith citing papers

Observation bf7bda18-d934-4cf0-96b5-a3773b699fe5 · inbound

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation cites this paper.

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-08-04T02:30:26.749214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 04a6f155-1680-498e-aebf-e492e7f25f2c · inbound

AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning cites this paper.

AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

Reference 35

Resolution: verified exact; arxiv_id, observed 2026-08-04T02:30:26.749214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 42cf7704-7c5b-4249-8fe4-e70fb2fc7976 · inbound

TacCoRL: Integrating Tactile Feedback into VLA via Simulation cites this paper.

TacCoRL: Integrating Tactile Feedback into VLA via Simulation HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

Reference 38

Resolution: verified exact; arxiv_id, observed 2026-08-04T02:30:26.749214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation fc268539-8e45-4b54-953d-786e13894b7c · inbound

Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation cites this paper.

Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing

Reference 17

Resolution: metadata mismatch; arxiv_id, observed 2026-08-04T02:30:26.749214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.