Paper Citation Record · LEDGER

Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

As of 9 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 29 inbound Pith citation observations for arXiv:2201.13360.

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

pith.paper-citation-record.v1
2201.13360 v2

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 29 of 29 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-08T06:32:00.761636+00:00

measured 29 of 29 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-07T11:55:47.799528Z

measured 1 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-08-05T02:28:24.338817Z

Reference resolution

0 of 0 outbound references displayed

verified exact0
verified fuzzy0
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

2
arxiv_reference, observed 2026-08-05T02:28:24.338817Z

Outbound references

No outbound reference observations are available for this paper version.

Pith citing papers

Observation 5e2a6b3c-8dd5-404c-a931-389712ccbaaf · inbound

GraphPad: Inference-Time 3D Scene Graph Updates for Embodied Question Answering cites this paper.

GraphPad: Inference-Time 3D Scene Graph Updates for Embodied Question Answering Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-07T11:55:47.799528Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bc9bee9f-30c5-416d-89f0-83e99a3a33c9 · inbound

IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion cites this paper.

IRS: Instance-Level 3D Scene Graphs via Room Prior Guided LiDAR-Camera Fusion Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-07T05:53:07.803461Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 277d7f32-9bb2-40f8-a18d-18a839f067be · inbound

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity cites this paper.

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 52

Resolution: unresolved; no resolver link, observed 2026-08-06T23:43:13.374775Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3664fdc7-e127-484f-88a3-20c9de4946f6 · inbound

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding cites this paper.

Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-06T22:07:16.927387Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5be548a6-6e75-475d-b69d-f28965a49e2e · inbound

Ella: Embodied Social Agents with Lifelong Memory cites this paper.

Ella: Embodied Social Agents with Lifelong Memory Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-06T21:30:53.089675Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1a61a54a-7a4b-488e-b8f6-4a9e2bc8cc60 · inbound

Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph cites this paper.

Open-Vocabulary Indoor Object Grounding with 3D Hierarchical Scene Graph Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-06T16:58:54.617826Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c90d097a-5d28-4a35-8e88-c4a3fee3c402 · inbound

N2M: Bridging Navigation and Manipulation by Learning Pose Preference from Rollout cites this paper.

N2M: Bridging Navigation and Manipulation by Learning Pose Preference from Rollout Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-04T15:46:04.797293Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d1cd8322-1a68-4206-bc63-811b6e295d78 · inbound

Spatiotemporal Knowledge Graphs as Persistent Scene Memory for Embodied Question Answering cites this paper.

Spatiotemporal Knowledge Graphs as Persistent Scene Memory for Embodied Question Answering Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-04T12:55:37.539746Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3a121106-11e3-4301-a417-1bcfab765912 · inbound

OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation cites this paper.

OpenNavMap: Multi-Session Appearance-Based Topometric Mapping for Scalable Visual Navigation Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-03T09:56:46.609319Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d8a49f14-0210-455d-bf49-e3a6156ebd37 · inbound

Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search cites this paper.

Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 39

Resolution: unresolved; no resolver link, observed 2026-07-15T14:22:08.027014Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e8817864-e17d-4099-8339-ff16b517ca02 · inbound

Memory Over Maps: 3D Object Localization Without Reconstruction cites this paper.

Memory Over Maps: 3D Object Localization Without Reconstruction Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 14

Resolution: metadata mismatch; arxiv_id, observed 2026-05-15T07:49:51.003700Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation ea481753-961a-41c7-91d8-d1be1a20c4ef · inbound

IGV-RRT: Prior-Real-Time Observation Fusion for Active Object Search in Changing Environments cites this paper.

IGV-RRT: Prior-Real-Time Observation Fusion for Active Object Search in Changing Environments Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 12

Resolution: metadata mismatch; arxiv_id, observed 2026-05-15T01:03:25.218794Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 3a925f35-0e58-4b92-ad14-4c79e6018344 · inbound

M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction cites this paper.

M2H-MX: Multi-Task Semantic and Geometric Perception for Real-Time Monocular 3D Scene Graph Construction Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 3

Resolution: unresolved; no resolver link, observed 2026-07-13T15:52:32.406191Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 724bedca-a0fc-4806-b309-6acb62ea1f4f · inbound

HSG: Hyperbolic Scene Graph cites this paper.

HSG: Hyperbolic Scene Graph Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 23

Resolution: metadata mismatch; arxiv_id, observed 2026-05-10T05:36:02.153089Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 7c8ff6ae-fcac-43b9-8d62-a9d3158953de · inbound

EmbodiedLGR: Integrating Lightweight Graph Representation and Retrieval for Semantic-Spatial Memory in Robotic Agents cites this paper.

EmbodiedLGR: Integrating Lightweight Graph Representation and Retrieval for Semantic-Spatial Memory in Robotic Agents Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 3

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T12:06:04.059881Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 909509d7-1e24-43ad-82c7-f6025b4f26a9 · inbound

Robust Graph Matching through Semantic Relationship Generation for SLAM cites this paper.

Robust Graph Matching through Semantic Relationship Generation for SLAM Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 6

Resolution: metadata mismatch; arxiv_id, observed 2026-05-12T00:01:16.668071Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 2d7c8bd2-fab0-4eb9-b61c-757c92747d73 · inbound

Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping cites this paper.

Mono-Hydra++: Real-Time Monocular Scene Graph Construction with Multi-Task Learning for 3D Indoor Mapping Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 3

Resolution: verified exact; arxiv_id, observed 2026-05-20T12:08:15.587591Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation c60c19e7-2d0e-4887-849e-0c8a94eb6979 · inbound

Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation cites this paper.

Fixed External Cameras as Common Prior Maps for Active 3D Scene Graph Generation Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 10

Resolution: metadata mismatch; arxiv_id, observed 2026-05-20T09:58:10.983850Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 98a027bb-13c6-45e1-b10d-30daecc7a876 · inbound

RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots cites this paper.

RGB-only Active 3D Scene Graph Generation for Indoor Mobile Robots Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 9

Resolution: metadata mismatch; arxiv_id, observed 2026-05-20T09:53:15.849530Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 157229a2-6c5a-4c6f-b32a-b7faecd5b0b0 · inbound

PoseRefer: Pathway-Local Parameters for Semantically Grounded Reference Resolution cites this paper.

PoseRefer: Pathway-Local Parameters for Semantically Grounded Reference Resolution Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 8

Resolution: metadata mismatch; arxiv_id, observed 2026-06-30T13:14:40.827022Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 27d4a902-7834-4877-9d0f-f8fda113b340 · inbound

Enabling Extensible Embodied Capabilities with Tools cites this paper.

Enabling Extensible Embodied Capabilities with Tools Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 20

Resolution: metadata mismatch; arxiv_id, observed 2026-06-29T17:33:44.886194Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 15ba6a80-e273-4e79-88e6-f2c44a31e0fd · inbound

Which Pretraining Paradigm Better Serves Spatial Intelligence? An Empirical Comparison of Vision-Language and Video Generation Models cites this paper.

Which Pretraining Paradigm Better Serves Spatial Intelligence? An Empirical Comparison of Vision-Language and Video Generation Models Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 2

Resolution: metadata mismatch; arxiv_id, observed 2026-06-29T13:53:28.693772Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation f42ae31c-7533-4ceb-bb25-a6905fb2a51e · inbound

Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics cites this paper.

Hierarchical Object Representation for Spatial Robot Perception: Points, Meshes, and Superquadrics Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 29

Resolution: metadata mismatch; arxiv_id, observed 2026-07-01T22:56:20.315449Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation a580802b-32f1-4b87-864a-c4778e334dc9 · inbound

SCOUT: Semantic scene COverage via Uncertainty-guided Traversal cites this paper.

SCOUT: Semantic scene COverage via Uncertainty-guided Traversal Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 6

Resolution: metadata mismatch; arxiv_id, observed 2026-07-02T13:47:00.084811Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 60929cf0-dc4f-4646-a4cf-21fc46bafa32 · inbound

ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration cites this paper.

ObsGraph: Hierarchical Observation Representation for Embodied Reasoning and Exploration Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 13

Resolution: metadata mismatch; arxiv_id, observed 2026-07-04T15:39:56.853423Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 0b6e5f8c-2d8e-4f9b-afcc-4731de669dd9 · inbound

LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation cites this paper.

LocalNav: Distilling Frontier VLMs and Embodied RL for On-Device Object Goal Navigation Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-06-29T19:23:54.295308Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-08T06:32:00.761636+00:00.

Observation 2845de3b-af7e-49da-a8ab-5c17e045d0a3 · inbound

What VGGT Knows About Overlap: Probing Geometric Foundation Models for Co-Visibility cites this paper.

What VGGT Knows About Overlap: Probing Geometric Foundation Models for Co-Visibility Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 15

Resolution: unresolved; no resolver link, observed 2026-07-13T02:34:16.260210Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 22df36eb-61e6-4fcc-a8b2-e6d59c6942df · inbound

Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics cites this paper.

Just-In-Time Scene Graph Growth: Combating Perceptual Saturation in Long-Horizon Robotics Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-02T05:51:18.654956Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c39b301c-f220-45bb-adf4-04364a267b57 · inbound

FloAff-Kitchen: Bridging Navigation and Manipulation via Canonical and Progressive Floor Affordance Learning cites this paper.

FloAff-Kitchen: Bridging Navigation and Manipulation via Canonical and Progressive Floor Affordance Learning Hydra: A Real-time Spatial Perception System for 3D Scene Graph Construction and Optimization

Reference 13

Resolution: unresolved; no resolver link, observed 2026-07-31T21:03:21.418522Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.