Paper Citation Record · LEDGER

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning

As of 18 August 2026, this Paper Citation Record lists 38 of 38 outbound references and 1 inbound Pith citation observation for arXiv:2504.14989.

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

pith.paper-citation-record.v1
2504.14989 v1

Coverage vector

measured 38 of 38 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T11:40:40.509377Z

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-17T06:30:58.91139+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T20:14:17.213450Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-08-15T20:14:17.369543Z

Reference resolution

38 of 38 outbound references displayed

verified exact0
verified fuzzy33
unresolved5
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation d13d0247-d71a-438d-a0bc-dfea91b3f46b · outbound

This paper cites Rapid locomotion via reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Rapid locomotion via reinforcement learning,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:41.045479Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 7c7d645f-f74e-4945-bfeb-3e07663b4ed6 · outbound

This paper cites Robot parkour learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Robot parkour learning,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:41.031539Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 35107e73-8852-49b7-8e69-bfb862d18f68 · outbound

This paper cites Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hierarchical reinforcement learning for precise soccer shooting skills using a quadrupedal robot,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:41.016796Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation a58d6a59-0b7c-449a-bbb7-8b6b4a1be5d0 · outbound

This paper cites Learning-based legged locomotion: State of the art and future per- spectives,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning-based legged locomotion: State of the art and future per- spectives,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:41.001188Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation c0ebab54-6a59-4b4c-a7ce-c0d73e8d2a9f · outbound

This paper cites Dribblebot: Dynamic legged manipulation in the wild,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dribblebot: Dynamic legged manipulation in the wild,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.986917Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 9c15c8b5-5e70-445c-82c3-1be5b4dc002b · outbound

This paper cites Dexdribbler: Learning dexterous soccer manipulation via dynamic supervision,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dexdribbler: Learning dexterous soccer manipulation via dynamic supervision,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.972505Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 1cdad0a3-3a8c-4280-b4e3-c0cfd90d8593 · outbound

This paper cites Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Dreamwaq: Learning robust quadrupedal locomotion with implicit terrain imagination via deep reinforcement learning,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.956984Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 05b2d240-29e8-45be-90b7-1c960e95c506 · outbound

This paper cites Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Concurrent training of a control policy and a state estimator for dynamic and robust legged locomotion,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.942752Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation a5885938-7fbf-4ded-9a44-28572775cae7 · outbound

This paper cites Not only rewards but also constraints: Applications on legged robot locomotion,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Not only rewards but also constraints: Applications on legged robot locomotion,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-16T11:40:40.388127Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f50a5dd0-9e3e-4f40-8ec3-5a1ecc4b9b07 · outbound

This paper cites Learning agile and dynamic motor skills for legged robots,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning agile and dynamic motor skills for legged robots,

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-16T11:40:40.392295Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d2119b14-ff32-4ced-ba2a-df870eb5e4f6 · outbound

This paper cites Learning quadrupedal locomotion over challenging terrain,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning quadrupedal locomotion over challenging terrain,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.910191Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 1a2913c1-ac3d-4d9c-beab-d9031543affb · outbound

This paper cites Learning to walk in minutes using massively parallel deep reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning to walk in minutes using massively parallel deep reinforcement learning,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.896378Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 44a784eb-c0a1-48fe-9056-2459cd9b88ad · outbound

This paper cites Learning robust perceptive locomotion for quadrupedal robots in the wild,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning robust perceptive locomotion for quadrupedal robots in the wild,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.883145Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 16d27bef-3d89-4e2a-9a96-ef521235c758 · outbound

This paper cites Walk these ways: Tuning robot control for generalization with multiplicity of behavior,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Walk these ways: Tuning robot control for generalization with multiplicity of behavior,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.869997Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 67a50a98-251c-48d6-a241-c04c2ff45ba2 · outbound

This paper cites Rma: Rapid motor adaptation for legged robots,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Rma: Rapid motor adaptation for legged robots,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.856203Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 00ecd40a-91de-4f46-8eaf-66c023ca4606 · outbound

This paper cites Pedipulate: Enabling manipulation skills using a quadruped robot’s leg,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Pedipulate: Enabling manipulation skills using a quadruped robot’s leg,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.841983Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation f45d2946-fb7b-4007-b333-d0a621961b6f · outbound

This paper cites Legs as manipulator: Pushing quadrupedal agility beyond locomotion,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Legs as manipulator: Pushing quadrupedal agility beyond locomotion,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.828015Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 0fb86736-9260-46e9-8c07-7b99534b9099 · outbound

This paper cites Creating a dynamic quadrupedal robotic goalkeeper with reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Creating a dynamic quadrupedal robotic goalkeeper with reinforcement learning,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.814271Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation ddbef635-46ec-43f7-b0f2-b5abed41366e · outbound

This paper cites Learning visual quadrupedal loco-manipulation from demonstrations,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Learning visual quadrupedal loco-manipulation from demonstrations,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.800565Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 4fb2b297-3809-4b16-b187-2d7909027713 · outbound

This paper cites Hilma-res: A general hierarchical framework via residual rl for combining quadrupedal locomotion and manipulation,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hilma-res: A general hierarchical framework via residual rl for combining quadrupedal locomotion and manipulation,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.787209Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation c0ec2d23-9753-467a-91df-63c9d14890e9 · outbound

This paper cites Precup, Temporal abstraction in reinforcement learning.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Precup, Temporal abstraction in reinforcement learning

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.774027Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 6adf5020-481c-45b7-8bbc-c30d06bae50c · outbound

This paper cites Near-optimal representa- tion learning for hierarchical reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Near-optimal representa- tion learning for hierarchical reinforcement learning,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.760561Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 44d28870-8903-446b-836e-d8124be149a6 · outbound

This paper cites Hierarchical reinforce- ment learning: A survey and open research challenges,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hierarchical reinforce- ment learning: A survey and open research challenges,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.746961Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 96803313-5b7b-4f04-a451-04492b58e59e · outbound

This paper cites Reinforcement learning in finite mdps: Pac analysis.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Reinforcement learning in finite mdps: Pac analysis

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.733844Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 5bbdbd4f-6ae1-4234-be2f-4987916707d2 · outbound

This paper cites Minimax regret bounds for reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Minimax regret bounds for reinforcement learning,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.720118Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 4ad8a221-3ca4-48e7-b3b2-714542e6d7cf · outbound

This paper cites Why Does Hierarchy (Sometimes) Work So Well in Reinforcement Learning?.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Why Does Hierarchy (Sometimes) Work So Well in Reinforcement Learning?

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-16T11:40:40.458635Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dda06d8d-77f5-4672-a9d5-f1aada54643f · outbound

This paper cites Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Deeploco: Dynamic locomotion skills using hierarchical deep reinforcement learning,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.706215Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 15f2f0e4-1e92-4c7b-818f-06464dd159d5 · outbound

This paper cites Hierarchical reinforcement learning for quadruped locomotion,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hierarchical reinforcement learning for quadruped locomotion,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.692686Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 6e500e08-d59c-41eb-88e1-617eb310f7e7 · outbound

This paper cites A hierarchical framework for quadruped omnidirectional locomotion based on reinforcement learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning A hierarchical framework for quadruped omnidirectional locomotion based on reinforcement learning,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.679140Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation c27d84b2-b8cb-4616-a916-e83f012c22c3 · outbound

This paper cites Hierarchical skills for efficient exploration,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hierarchical skills for efficient exploration,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.666084Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 4271ab27-2d2e-4e7f-8fe7-b287d4d352c2 · outbound

This paper cites Hi- erarchical reinforcement learning with universal policies for multistep robotic manipulation,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Hi- erarchical reinforcement learning with universal policies for multistep robotic manipulation,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.652424Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 0270ae09-1d7e-4f1b-a5a6-27d1b83e0bf9 · outbound

This paper cites Cascaded compositional residual learning for complex interactive behaviors,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Cascaded compositional residual learning for complex interactive behaviors,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.637035Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 0ea1a3a9-be12-4c3b-b2e8-10ae093343f9 · outbound

This paper cites Asc: Adaptive skill coordination for robotic mobile manipulation,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Asc: Adaptive skill coordination for robotic mobile manipulation,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.623475Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation bcb0835b-e1f3-439c-af54-eef2d9d8771d · outbound

This paper cites SLR: Learning quadruped locomotion without privileged information,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning SLR: Learning quadruped locomotion without privileged information,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.609470Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation 32e845f1-4c73-4f6a-9643-3bcd66f0a51c · outbound

This paper cites Proximal Policy Optimization Algorithms.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Proximal Policy Optimization Algorithms

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-16T11:40:40.496549Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7178b335-018a-4920-8f63-05dce58f91af · outbound

This paper cites Policy gradi- ent methods for reinforcement learning with function approximation,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Policy gradi- ent methods for reinforcement learning with function approximation,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.596364Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation ab9aff98-ac8f-46fb-b3aa-a9ce5bded20f · outbound

This paper cites Asymmetric actor critic for image-based robot learning,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Asymmetric actor critic for image-based robot learning,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:40:40.582728Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.

Observation adb56865-e416-4f7c-94c6-c903ff69eea3 · outbound

This paper cites Ultralytics yolo11,.

Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning Ultralytics yolo11,

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-16T11:40:40.509377Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation cccc5e72-4eeb-42fc-ab3c-6f22ca0fa439 · inbound

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams cites this paper.

Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teams Dynamic Legged Ball Manipulation on Rugged Terrains with Hierarchical Reinforcement Learning

Reference 24

Resolution: verified exact; local_arxiv, observed 2026-08-15T20:14:17.374349Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-17T06:30:58.91139+00:00.