Paper Citation Record · LEDGER

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation

As of 20 August 2026, this Paper Citation Record lists 50 of 50 outbound references and 3 inbound Pith citation observations for arXiv:2505.12744.

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

pith.paper-citation-record.v1
2505.12744 v1

Coverage vector

measured 50 of 50 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T20:33:12.777054Z

measured 53 of 53 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-03T20:32:29.151581Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T21:00:09.870570Z

Reference resolution

50 of 50 outbound references displayed

verified exact0
verified fuzzy4
unresolved46
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation c9437be8-6633-42fe-93ba-a99950227dc9 · outbound

This paper cites Do As I Can, Not As I Say: Grounding Language in Robotic Affordances.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Do As I Can, Not As I Say: Grounding Language in Robotic Affordances

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.553051Z

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Observation 054d140b-ea7f-4dca-a1bc-a6c150433fb9 · outbound

This paper cites Qwen2.5-VL Technical Report.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Qwen2.5-VL Technical Report

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.558552Z

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Observation 1e16e946-49ef-4832-850b-1edf634bf5c5 · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.562465Z

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Observation da33bb5f-c837-4fb8-a835-2512447dfc05 · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation RT-1: Robotics Transformer for Real-World Control at Scale

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.567255Z

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Observation 5cfd8230-3e87-42a8-9973-5e58e278c02c · outbound

This paper cites RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.571906Z

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Observation 606d6697-a9b2-4e10-8309-64266fbc35a7 · outbound

This paper cites IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation IGOR: Image-GOal Representations are the Atomic Control Units for Foundation Models in Embodied AI

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.577205Z

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Observation 111b15a2-ae6e-41b3-8f13-6e8d87168424 · outbound

This paper cites Moto: Latent motion token as the bridging language for robot manipulation.arXiv preprint arXiv:2412.04445, 2024.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Moto: Latent motion token as the bridging language for robot manipulation.arXiv preprint arXiv:2412.04445, 2024

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.582124Z

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Observation 3f5ea101-12cc-4bdc-906f-f89c6caf2e26 · outbound

This paper cites Diffusion Policy: Visuomotor Policy Learning via Action Diffusion.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.587177Z

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Observation e276d1f4-9344-43a9-b333-59525faf413a · outbound

This paper cites Dynamo: In-domain dynamics pretraining for visuo.Motor Control, 2024.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Dynamo: In-domain dynamics pretraining for visuo.Motor Control, 2024

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:33:13.519431Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 25f9d2c0-de3e-4921-9b46-32627781030a · outbound

This paper cites Fineclip: Self-distilled region-based clip for better fine-grained understanding.Advances in Neural Information Processing Systems, 2024.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Fineclip: Self-distilled region-based clip for better fine-grained understanding.Advances in Neural Information Processing Systems, 2024

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:33:13.505543Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2310d7c0-ac87-4591-9314-9448a7f5b668 · outbound

This paper cites PaLM-E: An Embodied Multimodal Language Model.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation PaLM-E: An Embodied Multimodal Language Model

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.601561Z

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Observation 58f55d5e-666f-48ef-849e-e3f2976303b2 · outbound

This paper cites Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Bridge Data: Boosting Generalization of Robotic Skills with Cross-Domain Datasets

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.606383Z

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Observation 7a626588-9adc-4552-b445-32193d6d50aa · outbound

This paper cites DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.610886Z

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Observation b14d0579-2e9c-457a-aec7-578d4479316b · outbound

This paper cites Deep residual learning for image recognition.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Deep residual learning for image recognition

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.615147Z

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Observation 9bbd22c5-1ada-438a-81e9-17f19e201937 · outbound

This paper cites Lora: Low-rank adaptation of large language models.ICLR, 1(2):3, 2022.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Lora: Low-rank adaptation of large language models.ICLR, 1(2):3, 2022

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.619297Z

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Observation 50121185-7d97-45e8-9ee5-c5b68b326891 · outbound

This paper cites REINFORCE++: Stabilizing Critic-Free Policy Optimization with Global Advantage Normalization.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation REINFORCE++: Stabilizing Critic-Free Policy Optimization with Global Advantage Normalization

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.623781Z

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Observation 986b2236-b0fb-41ab-87a0-c89adc56dad2 · outbound

This paper cites An Embodied Generalist Agent in 3D World.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation An Embodied Generalist Agent in 3D World

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.628364Z

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Observation 46f8da5e-a78c-424f-a55f-ea76046ce8cd · outbound

This paper cites VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.633560Z

Source-reported events for the cited work

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Observation 303ff475-e242-476a-85db-5a372d88be0a · outbound

This paper cites ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.638487Z

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Observation 2a5dfefd-cce6-435a-b488-0ad208ff35e0 · outbound

This paper cites OpenAI o1 System Card.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation OpenAI o1 System Card

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.643545Z

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Observation 3fef3789-952a-4476-8729-aec616554738 · outbound

This paper cites macmillan, 2011.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation macmillan, 2011

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.648186Z

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Observation 6e4172b8-3e57-4640-bdb3-cf3dc4763842 · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation OpenVLA: An Open-Source Vision-Language-Action Model

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.652973Z

Source-reported events for the cited work

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Observation 5f107e40-f37e-45ca-825c-956417c6268c · outbound

This paper cites Lisa: Reasoning segmentation via large language model.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Lisa: Reasoning segmentation via large language model

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.657610Z

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Observation bb1253bf-5e96-4e42-8e72-246894153c22 · outbound

This paper cites Vision-Language Foundation Models as Effective Robot Imitators.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Vision-Language Foundation Models as Effective Robot Imitators

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.661855Z

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Observation 337af9f0-41c6-439d-950f-33fc041554ac · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Evaluating Real-World Robot Manipulation Policies in Simulation

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.666548Z

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Observation 8dd7c1a0-a8b9-41dd-9eb4-2746304ca2a7 · outbound

This paper cites Open-vocabulary semantic segmentation with mask-adapted clip.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Open-vocabulary semantic segmentation with mask-adapted clip

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:33:13.450848Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d25ab36c-4505-44c6-b94d-37d449624964 · outbound

This paper cites Code as policies: Language model programs for embodied control.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Code as policies: Language model programs for embodied control

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.674400Z

Source-reported events for the cited work

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Observation 8f31f9f2-cb43-4c08-a1ca-2e79ef004195 · outbound

This paper cites Swin transformer: Hierarchical vision transformer using shifted windows.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Swin transformer: Hierarchical vision transformer using shifted windows

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.678103Z

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Observation 20cc83de-0d40-4efb-ad29-71bdc6ae1a2f · outbound

This paper cites SGDR: Stochastic Gradient Descent with Warm Restarts.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation SGDR: Stochastic Gradient Descent with Warm Restarts

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.682078Z

Source-reported events for the cited work

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Observation 0c920773-b5c1-4072-be56-67ce2a73af87 · outbound

This paper cites Decoupled Weight Decay Regularization.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Decoupled Weight Decay Regularization

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.686035Z

Source-reported events for the cited work

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Observation 92af7a2e-7f78-43c7-899f-37ac6c3d585c · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.689769Z

Source-reported events for the cited work

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Observation 21cc9d64-dee7-4f4a-8b34-c857a59247c3 · outbound

This paper cites Proximal Policy Optimization Algorithms.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Proximal Policy Optimization Algorithms

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.693826Z

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Observation 79013272-2282-41c1-b221-9800cec958a6 · outbound

This paper cites DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Models

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.697547Z

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Observation 5fe58cd1-3f50-4324-92e2-8239cfe36c68 · outbound

This paper cites Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.702319Z

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Observation f5edd807-34a1-45e9-b295-35521afbcc3a · outbound

This paper cites Computing euler angles from a rotation matrix.Retrieved on August, 6(2000):39–63, 1999.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Computing euler angles from a rotation matrix.Retrieved on August, 6(2000):39–63, 1999

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:33:13.413930Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 28c2bee9-4443-448e-a252-fb7b397b257f · outbound

This paper cites GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation GeoManip: Geometric Constraints as General Interfaces for Robot Manipulation

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.710846Z

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Observation c746766d-ba61-47ec-9324-b55f220a4ce6 · outbound

This paper cites Overcoming Support Dilution for Robust Few-shot Semantic Segmentation.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Overcoming Support Dilution for Robust Few-shot Semantic Segmentation

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.715396Z

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Observation 81f954b5-859b-49ca-abc9-faf06bfd477e · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Octo: An Open-Source Generalist Robot Policy

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.720092Z

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Observation f6b118d3-7c43-4508-b74f-24c7dfd2b14e · outbound

This paper cites Llama 2: Open Foundation and Fine-Tuned Chat Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Llama 2: Open Foundation and Fine-Tuned Chat Models

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.725029Z

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Observation 7f1396e7-c4ec-4a2d-b5c2-051ccc2a59a8 · outbound

This paper cites Bridgedata v2: A dataset for robot learning at scale.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Bridgedata v2: A dataset for robot learning at scale

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.730223Z

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Observation 0c61ae86-8fcc-43e6-bd73-3bcb10a1334d · outbound

This paper cites DART-LLM: Dependency-Aware Multi-Robot Task Decomposition and Execution using Large Language Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation DART-LLM: Dependency-Aware Multi-Robot Task Decomposition and Execution using Large Language Models

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.734688Z

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Observation 256228c2-1388-40e6-a0b1-5a3249fde096 · outbound

This paper cites Q-learning.Machine learning, 8:279–292, 1992.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Q-learning.Machine learning, 8:279–292, 1992

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.740133Z

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Observation b3871ed7-281b-4b1f-9f3f-5ee4d1a88593 · outbound

This paper cites Chain-of-thought prompting elicits reasoning in large language models.Advances in neural information processing systems, 35:24824–24837, 2022.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Chain-of-thought prompting elicits reasoning in large language models.Advances in neural information processing systems, 35:24824–24837, 2022

Reference 43

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.744820Z

Source-reported events for the cited work

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Observation 10a290b1-691d-4070-bb64-2b506ace1192 · outbound

This paper cites Qwen2.5 Technical Report.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Qwen2.5 Technical Report

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.749687Z

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Observation 7ad22a85-1b4c-49bd-8103-98a1074fff65 · outbound

This paper cites DeepCritic: Deliberate Critique with Large Language Models.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation DeepCritic: Deliberate Critique with Large Language Models

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.754141Z

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Observation 4dad9383-d3d0-4063-95be-fb7038cdaa81 · outbound

This paper cites Latent Action Pretraining from Videos.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Latent Action Pretraining from Videos

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.758791Z

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Observation d1b71996-a53e-46b1-aec7-a7ac379ab7bd · outbound

This paper cites DAPO: An Open-Source LLM Reinforcement Learning System at Scale.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation DAPO: An Open-Source LLM Reinforcement Learning System at Scale

Reference 47

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.763387Z

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Observation 5bfb273f-f52f-427f-a7e4-fd445edbdc30 · outbound

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

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.767830Z

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Observation c5dada62-7421-440c-9c94-90048fbaa2e1 · outbound

This paper cites Robotic Control via Embodied Chain-of-Thought Reasoning.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation Robotic Control via Embodied Chain-of-Thought Reasoning

Reference 49

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.772083Z

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Observation a3ad2b89-8e9e-4b9e-9570-0e14eb8bb404 · outbound

This paper cites 3D-VLA: A 3D Vision-Language-Action Generative World Model.

Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation 3D-VLA: A 3D Vision-Language-Action Generative World Model

Reference 50

Resolution: unresolved; no resolver link, observed 2026-08-15T20:33:12.777054Z

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Pith citing papers

Observation 97ee8c20-695a-4f66-bf59-d38a765773a6 · inbound

Mixture of Horizons in Action Chunking cites this paper.

Mixture of Horizons in Action Chunking Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.151581Z

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Observation 7d9088c2-a2cb-4738-b39a-86e8688c1840 · inbound

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs cites this paper.

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-02T22:14:29.619640Z

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Observation fc62dda3-bc48-4f55-87eb-adba98446f84 · inbound

Learning Action Priors for Cross-embodiment Robot Manipulation cites this paper.

Learning Action Priors for Cross-embodiment Robot Manipulation Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation

Reference 41

Resolution: verified exact; arxiv_id, observed 2026-07-04T21:00:09.872094Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.