Paper Citation Record · LEDGER

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion

As of 10 August 2026, this Paper Citation Record lists 44 of 44 outbound references and 0 inbound Pith citation observations for arXiv:2607.11004.

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

pith.paper-citation-record.v1
2607.11004 v1

Coverage vector

measured 44 of 44 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-07-14T07:44:10.532385Z

measured 44 of 44 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 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

44 of 44 outbound references displayed

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External citation measurements

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Outbound references

Observation 994596fc-ef84-4cb5-90ef-72d72e515b01 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 1

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7b37d932-b625-40db-9bd2-c92b1d056840 · outbound

This paper cites Recognising Affordances in Predicted Futures to Plan With Consideration of Non-Canonical Affordance Effects,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Recognising Affordances in Predicted Futures to Plan With Consideration of Non-Canonical Affordance Effects,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation afac6403-b1b2-4764-842a-3910f64036fc · outbound

This paper cites Bottom-up learning of object categories, action effects and logical rules: From continuous manipulative exploration to symbolic planning,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Bottom-up learning of object categories, action effects and logical rules: From continuous manipulative exploration to symbolic planning,

Reference 3

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Unavailable: canonical work link unavailable.

Observation dd9baf25-2e45-447f-8442-ac0fd704e7cc · outbound

This paper cites Refining discovered symbols with multi-step interaction experience,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Refining discovered symbols with multi-step interaction experience,

Reference 4

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation d236e424-bfa7-44c6-a7fc-679637ceff2d · outbound

This paper cites Towards a cognitive robot that uses internal rehearsal to learn affordance relations,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Towards a cognitive robot that uses internal rehearsal to learn affordance relations,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Unavailable: canonical work link unavailable.

Observation f92f97b7-ab8d-4093-ae44-a7181c3d2d0e · outbound

This paper cites Multi-Object Graph Affordance Network: Goal-Oriented Planning through Learned Compound Object Affordances,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Multi-Object Graph Affordance Network: Goal-Oriented Planning through Learned Compound Object Affordances,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ccb1a950-e10f-45b1-87d9-a4cf8a00125a · outbound

This paper cites Learning Physical Intuition of Block Towers by Example,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Learning Physical Intuition of Block Towers by Example,

Reference 7

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 38ab8ae1-bb55-41f9-9355-a77175ff5b5f · outbound

This paper cites Deep Affordance Foresight: Planning Through What Can Be Done in the Future,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Deep Affordance Foresight: Planning Through What Can Be Done in the Future,

Reference 8

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a9d06f57-865f-4ae7-a587-92005d1c5c06 · outbound

This paper cites Multi-step planning with learned effects of partial action executions,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Multi-step planning with learned effects of partial action executions,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c37a35ea-414e-4bfc-beb7-ec2337988114 · outbound

This paper cites Generalizable Task Planning Through Representation Pretraining,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Generalizable Task Planning Through Representation Pretraining,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 5723ad6b-b6ca-42d9-b8ef-0a123970faf6 · outbound

This paper cites Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Search-Based Task Planning with Learned Skill Effect Models for Lifelong Robotic Manipulation,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation bb45a30d-98e5-4419-9ddc-69b7168171c2 · outbound

This paper cites Toridashi konnan na misshuujoutai kara no hajisenryaku no jidouseisei (Automatic generation of grasping strategy for picking in challenging crowded states),.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Toridashi konnan na misshuujoutai kara no hajisenryaku no jidouseisei (Automatic generation of grasping strategy for picking in challenging crowded states),

Reference 12

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 21103cf7-c488-4880-8dfc-ac7186fc6d87 · outbound

This paper cites CLIPort: What and Where Pathways for Robotic Manipulation,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion CLIPort: What and Where Pathways for Robotic Manipulation,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 9ba24dcf-d2b8-441f-9972-c59bed55a3fb · outbound

This paper cites One-Shot 3-D Affordance Learning for Multi-Stage Robotic Manipulation,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion One-Shot 3-D Affordance Learning for Multi-Stage Robotic Manipulation,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation d3c07e89-5ea2-4db4-9caf-d53a069cc790 · outbound

This paper cites Vision-Language Models as Success Detectors,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Vision-Language Models as Success Detectors,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 6ab56c2c-ce6f-4710-ad5f-41a0f7e14291 · outbound

This paper cites Unity: A General Platform for Intelligent Agents.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unity: A General Platform for Intelligent Agents

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 5c4ed6c9-593f-4545-a1eb-86958a891e0a · outbound

This paper cites Unity robotics hub,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unity robotics hub,

Reference 17

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 2070f4d4-6a19-4a69-b5b6-ae0ec6bc4ef3 · outbound

This paper cites Segment Anything.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Segment Anything

Reference 18

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 5e3edee8-f55c-479d-9b98-5539816cc4e3 · outbound

This paper cites Scaled-YOLOv4: Scaling Cross Stage Partial Network,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Scaled-YOLOv4: Scaling Cross Stage Partial Network,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 744e84b1-3a8c-462a-8ab8-106fa414d8fc · outbound

This paper cites Visual Instruction Tuning,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Visual Instruction Tuning,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 23bd6e62-296e-4aa2-ac8b-b55c065f5428 · outbound

This paper cites Learning Transferable Visual Models From Natural Language Supervision,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Learning Transferable Visual Models From Natural Language Supervision,

Reference 21

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 48a852c7-6d94-43b8-a4fa-af8147892d79 · outbound

This paper cites Swin-Unet: Unet-Like Pure Transformer for Medical Image Segmentation,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Swin-Unet: Unet-Like Pure Transformer for Medical Image Segmentation,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 4b2fb3f8-e1b0-4377-83b6-18ed28b780da · outbound

This paper cites GenAug: Retargeting behaviors to unseen situations via Generative Augmentation.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion GenAug: Retargeting behaviors to unseen situations via Generative Augmentation

Reference 23

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 917e7987-ebca-4377-abde-c04e7c5bd5c5 · outbound

This paper cites Grasp-Anything: Large-scale Grasp Dataset from Foundation Models,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Grasp-Anything: Large-scale Grasp Dataset from Foundation Models,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 2832fd02-ffd4-4cc9-ab1a-3c4ab98086ee · outbound

This paper cites High-Resolution Image Synthesis with Latent Diffusion Models,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion High-Resolution Image Synthesis with Latent Diffusion Models,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 9462c373-0d0f-43b9-a532-2b538a77fb18 · outbound

This paper cites Adding Conditional Control to Text-to-Image Diffusion Models,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Adding Conditional Control to Text-to-Image Diffusion Models,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 81315e7f-772a-44a6-b620-71a75e4b37d7 · outbound

This paper cites Estimating the Support of a High-Dimensional Distribution,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Estimating the Support of a High-Dimensional Distribution,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 8b7b968d-80e3-4adb-935f-04627c171759 · outbound

This paper cites Albumentations: Fast and Flexible Image Augmentations,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Albumentations: Fast and Flexible Image Augmentations,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation af7b158f-b4d5-4b1b-b2ed-d518a378f34f · outbound

This paper cites The Unreasonable Effectiveness of Deep Features as a Perceptual Metric,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion The Unreasonable Effectiveness of Deep Features as a Perceptual Metric,

Reference 29

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 2253e26d-f9a7-4cb8-b20e-695cb6be5914 · outbound

This paper cites Image quality assessment: from error visibility to structural similarity,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Image quality assessment: from error visibility to structural similarity,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 47c10db8-a48e-4e38-8a35-0c45a78911e1 · outbound

This paper cites Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case 13 Study,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case 13 Study,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 8eedca05-4636-4bbe-892e-4f6eaac7b8b3 · outbound

This paper cites PyTorch: An Imperative Style, High- Performance Deep Learning Library,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion PyTorch: An Imperative Style, High- Performance Deep Learning Library,

Reference 32

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Observation 24108853-da0b-4006-a619-0748e45861be · outbound

This paper cites JAX: composable transformations of Python+NumPy programs,.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion JAX: composable transformations of Python+NumPy programs,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation be90c314-abae-44c9-8e83-de851ff41111 · outbound

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Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion signSGD: compressed optimisation for non-convex problems,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation e3c0c037-885e-42ca-b1e4-a868ddfa4abf · outbound

This paper cites Gaussian Error Linear Units (GELUs).

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Gaussian Error Linear Units (GELUs)

Reference 35

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 36

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation c2f6cf38-f500-4f64-a323-5234dffeac3d · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 37

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation c2427068-bcaa-4e6b-b797-27c06dd6a80d · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 38

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 799633ce-a16d-493d-9ec5-d47ce1b29091 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 39

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation bf601fb9-5169-4e68-8b4d-140a442f0625 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 40

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation e374c8a1-d846-4cc8-9cdf-31f99bbdc422 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 41

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 62af3031-07d8-46be-a918-a8ef6bff5bd4 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

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Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 419b7ccd-3c8b-4784-89aa-576b94aff6f2 · outbound

This paper cites an unresolved cited work.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion Unresolved cited work

Reference 43

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Observation 145aaffe-4428-4787-8f59-7c730d49b0ef · outbound

This paper cites We use a cosine learning rate schedule that starts at 10−7, gradually increases to 10−5 over the first epoch, and then gradually decays again.

Affordance-Based Manipulation Planning with Text Goals and Sim-to-Real Generalisation via Real-to-Sim Image Conversion We use a cosine learning rate schedule that starts at 10−7, gradually increases to 10−5 over the first epoch, and then gradually decays again

Reference 44

Resolution: unresolved; no resolver link, observed 2026-07-14T07:44:10.532385Z

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Pith citing papers

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