Paper Citation Record · LEDGER

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation

As of 7 August 2026, this Paper Citation Record lists 26 of 26 outbound references and 2 inbound Pith citation observations for arXiv:2506.19269.

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

pith.paper-citation-record.v1
2506.19269 v2

Coverage vector

measured 26 of 26 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T23:11:17.320968Z

measured 28 of 28 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-07T06:34:17.273281+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-05T00:15:35.753816Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-10T11:00:04.112396Z

Reference resolution

26 of 26 outbound references displayed

verified exact0
verified fuzzy12
unresolved14
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 4471679e-e67a-4117-9e6e-463fb1621211 · outbound

This paper cites RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:16.444324Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation aaf4076e-cc93-4637-bd59-828d29495779 · outbound

This paper cites MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:16.538589Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 271ade25-6347-4793-a785-d1e4754ccb7b · outbound

This paper cites Denoising diffusion probabilistic models.Advances in neural information processing systems, 33:6840–6851, 2020.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Denoising diffusion probabilistic models.Advances in neural information processing systems, 33:6840–6851, 2020

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:16.740428Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 479a3535-7a75-4ea4-acc6-032c70829ef7 · outbound

This paper cites High-resolution image synthesis with latent diffusion models.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation High-resolution image synthesis with latent diffusion models

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:16.903661Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 28b1c061-5089-4a8a-952b-7e07d54edc49 · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, page 02783649241273668, 2023.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, page 02783649241273668, 2023

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:16.995969Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37995f69-d47b-4275-a1db-5b665f4ac472 · outbound

This paper cites Diffusion Policy Policy Optimization.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Diffusion Policy Policy Optimization

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.236709Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ab5e0372-02d9-4fd5-8f58-0763496570d6 · outbound

This paper cites Equivariant Diffusion Policy.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Equivariant Diffusion Policy

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.241970Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 64ea61b7-4333-46f2-9418-b22e675a88a8 · outbound

This paper cites The theory of affordances:(1979).

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation The theory of affordances:(1979)

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.639310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation f3571a2a-48e7-4b43-999b-6e6e666772e4 · outbound

This paper cites Affordancenet: An end-to-end deep learning approach for object affordance detection.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Affordancenet: An end-to-end deep learning approach for object affordance detection

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.626086Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 891bdf13-a58b-488e-9e3f-433a78882eb7 · outbound

This paper cites Phrase-based affordance detection via cyclic bilateral interaction.IEEE Transactions on Artificial Intelligence, 4(5):1186–1198, 2022.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Phrase-based affordance detection via cyclic bilateral interaction.IEEE Transactions on Artificial Intelligence, 4(5):1186–1198, 2022

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.611675Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 8b168530-2fef-4bde-acc5-2aab45c5d7bb · outbound

This paper cites Affordance grounding from demon- stration video to target image.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Affordance grounding from demon- stration video to target image

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.598864Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 25479948-eff8-4087-8f6f-df21c75890d8 · outbound

This paper cites Locate: Localize and transfer object parts for weakly supervised affordance grounding.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Locate: Localize and transfer object parts for weakly supervised affordance grounding

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.584449Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 2614cbfb-67e0-412d-9eac-9b07bc2f93d0 · outbound

This paper cites Learning affordance grounding from exocentric images.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Learning affordance grounding from exocentric images

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.572066Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 23941225-3d68-4f50-b70f-af5009dbd167 · outbound

This paper cites Grounded human-object interaction hotspots from video.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Grounded human-object interaction hotspots from video

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.559609Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 8b0fa72b-8b82-4714-9eb5-0582d726e9fb · outbound

This paper cites 3d affordancenet: A benchmark for visual object affordance understanding.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation 3d affordancenet: A benchmark for visual object affordance understanding

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.273378Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 058c5198-9c44-451a-8c45-65202a9a57b4 · outbound

This paper cites Grounding 3d object affordance from 2d interactions in images.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Grounding 3d object affordance from 2d interactions in images

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.537129Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation dd82aeac-dbf1-4ba1-b5e1-28225df4613a · outbound

This paper cites Open- vocabulary affordance detection in 3d point clouds.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Open- vocabulary affordance detection in 3d point clouds

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.524170Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation b5b2651d-4eaa-44f5-869c-fab9aacd74c9 · outbound

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

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation RT-1: Robotics Transformer for Real-World Control at Scale

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.288435Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7ec13d52-da31-4ccb-9917-c8efb31e6db8 · outbound

This paper cites GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulation

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.292943Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fa11a383-2ff0-40b1-a1cc-db0b15865296 · outbound

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

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.297116Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9bc2232c-eafe-4c93-871b-5836b07364e4 · outbound

This paper cites What Matters in Building Vision-Language-Action Models for Generalist Robots.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation What Matters in Building Vision-Language-Action Models for Generalist Robots

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.301120Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 26555558-bf8b-493b-85d7-712f1a213d73 · outbound

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

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.305080Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5f4f9382-48cb-4dec-9623-3fa1a3274157 · outbound

This paper cites On the continuity of rotation represen- tations in neural networks.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation On the continuity of rotation represen- tations in neural networks

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.511284Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation a1f5910e-84d3-45be-9104-6617df72f981 · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 2023.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 2023

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.498450Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation b05b8e22-7f4b-46e3-9833-21c480da0e73 · outbound

This paper cites 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-06T23:11:17.317329Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 41c797f1-f9d9-4439-a17a-23d83c3af804 · outbound

This paper cites Visual reasoning with a general conditioning layer, courville.

AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation Visual reasoning with a general conditioning layer, courville

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T23:11:17.485200Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Pith citing papers

Observation 59dc6482-eeaf-428e-a841-962d441c369b · inbound

R3D: Revisiting 3D Policy Learning cites this paper.

R3D: Revisiting 3D Policy Learning AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation

Reference 51

Resolution: verified exact; arxiv_id, observed 2026-05-10T11:00:04.113858Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation a7ea78ae-fba3-4e11-8112-8d196f70fcd8 · inbound

AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation cites this paper.

AffordTrajDP: Dynamic Affordance-Guided Visuomotor Policy Learning for Robotic Manipulation AnchorDP3: 3D Affordance Guided Sparse Diffusion Policy for Robotic Manipulation

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-05T00:15:35.753816Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.