Paper Citation Record · LEDGER

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings

As of 17 August 2026, this Paper Citation Record lists 28 of 28 outbound references and 1 inbound Pith citation observation for arXiv:2504.20808.

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

pith.paper-citation-record.v1
2504.20808 v2

Coverage vector

measured 28 of 28 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T05:23:13.414778Z

measured 29 of 29 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-16T06:30:59.297886+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-17T00:20:43.058346Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-17T00:21:23.538643Z

Reference resolution

28 of 28 outbound references displayed

verified exact2
verified fuzzy3
unresolved20
parse uncertain0
malformed identifier3
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 7d0ba416-bddc-4dbf-95d5-41f327a76c24 · outbound

This paper cites In: Machine In- telligence 15: Intelligent Agents, pp.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: Machine In- telligence 15: Intelligent Agents, pp

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.303971Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c643b37f-b6b7-4645-8f51-d56f2b312ac2 · outbound

This paper cites In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.308554Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6cdba1a6-c811-4267-a77a-3e47c20a9b0f · outbound

This paper cites arXiv preprint (2023).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings arXiv preprint (2023)

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.313036Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 44e44171-d0a2-495f-944a-ffe9d526e17c · outbound

This paper cites Diffusion Model-Augmented Behavioral Cloning.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Diffusion Model-Augmented Behavioral Cloning

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.317084Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e5c2ca29-7df8-42b2-91c2-77439eda6916 · outbound

This paper cites The International Journal of Robotics Research (2024).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings The International Journal of Robotics Research (2024)

Reference 5

Resolution: malformed identifier; raw_fallback, observed 2026-08-16T05:23:13.858443Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 4ce68788-fff2-44f6-b1b4-b868d5c3364d · outbound

This paper cites an unresolved cited work.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Unresolved cited work

Reference 6

Resolution: verified exact; doi, observed 2026-08-16T05:23:13.613368Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 2ee57379-5ea5-4c32-ad50-9fa42ba046a7 · outbound

This paper cites an unresolved cited work.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Unresolved cited work

Reference 7

Resolution: unresolved; raw_fallback, observed 2026-08-16T05:23:13.844777Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation bb1d9aa1-2669-4743-8934-b06417c846d0 · outbound

This paper cites an unresolved cited work.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Unresolved cited work

Reference 8

Resolution: unresolved; raw_fallback, observed 2026-08-16T05:23:13.829726Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 52e9fcf6-41a7-4824-a741-86f8209f5ae3 · outbound

This paper cites Science Robotics (2024).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Science Robotics (2024)

Reference 9

Resolution: malformed identifier; no resolver link, observed 2026-08-16T05:23:13.336423Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 96ef3f8a-0661-4096-900a-66cea1333034 · outbound

This paper cites In: Proc.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: Proc

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.340248Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 85e7e7c2-ce1b-41ce-b9a1-9bcc30fefe19 · outbound

This paper cites Denoising Diffusion Probabilistic Models.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Denoising Diffusion Probabilistic Models

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.344655Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ea62a5af-4122-45cf-86a3-c6fef432eb83 · outbound

This paper cites Classifier-Free Diffusion Guidance.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Classifier-Free Diffusion Guidance

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.348540Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c5ea5dd2-4e85-4443-b81b-87b114f4ad82 · outbound

This paper cites ACM Comput.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings ACM Comput

Reference 13

Resolution: malformed identifier; raw_fallback, observed 2026-08-16T05:23:13.815475Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 1eb2d537-8a6d-4c7e-848e-969836fa250d · outbound

This paper cites Science Robotics (2022).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Science Robotics (2022)

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.357066Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ea6c1bcf-0639-46fe-9747-db247e56239c · outbound

This paper cites Decoupled Weight Decay Regularization.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Decoupled Weight Decay Regularization

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.360986Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e2d4275b-2d94-4ed8-829d-663b0ccf1f00 · outbound

This paper cites Knowledge Distillation in Iterative Generative Models for Improved Sampling Speed.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Knowledge Distillation in Iterative Generative Models for Improved Sampling Speed

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.365379Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1d1de5fe-6362-4ada-86d4-daafd5927ca7 · outbound

This paper cites DINOv2: Learning Robust Visual Features without Supervision.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings DINOv2: Learning Robust Visual Features without Supervision

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.369673Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d0de91e2-a536-4870-a890-1c9a0ed431a9 · outbound

This paper cites Imitating Human Behaviour with Diffusion Models.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Imitating Human Behaviour with Diffusion Models

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.374332Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dd81a6b4-6654-489f-af34-1b1ddc16fedb · outbound

This paper cites In: Proc.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: Proc

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:23:13.802963Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 5efc9223-1f54-4c9e-b263-6353729fb9f0 · outbound

This paper cites Goal-Conditioned Imitation Learning using Score-based Diffusion Policies.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Goal-Conditioned Imitation Learning using Score-based Diffusion Policies

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.382360Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 11ada140-bfb5-4711-afe2-cc7f22989fad · outbound

This paper cites In: Proc.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: Proc

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:23:13.790871Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 12b503d9-2e5e-49e3-89ea-ad15b11676f0 · outbound

This paper cites Autonomous Robots 48(2) (2024).

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Autonomous Robots 48(2) (2024)

Reference 22

Resolution: verified exact; doi, observed 2026-08-16T05:23:13.498006Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 77ca4855-e8de-4aa0-ac51-f94f3ade5f7b · outbound

This paper cites In: Proc.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings In: Proc

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T05:23:13.777738Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation cb11035d-f3d1-4cc1-ae33-b3124892057c · outbound

This paper cites an unresolved cited work.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Unresolved cited work

Reference 24

Resolution: unresolved; raw_fallback, observed 2026-08-16T05:23:13.760860Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 92888fdd-14a8-4426-a0d6-c36e413c97be · outbound

This paper cites Denoising Diffusion Implicit Models.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Denoising Diffusion Implicit Models

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.402245Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9feaa9b0-03aa-4395-8ab3-55a363fe9cf6 · outbound

This paper cites Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Learning Robot Soccer from Egocentric Vision with Deep Reinforcement Learning

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.406265Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation efec8d66-0763-4962-8cc9-c29a935e0db5 · outbound

This paper cites Attention Is All You Need.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Attention Is All You Need

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.410666Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c18e6fed-7534-4b2c-8626-b35db56eff13 · outbound

This paper cites Diffusion Models for Robotic Manipulation: A Survey.

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Diffusion Models for Robotic Manipulation: A Survey

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-16T05:23:13.414778Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation c071ba98-c15f-4380-96c0-9ed917c35c6f · inbound

Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input cites this paper.

Learning Agile Striker Skills for Humanoid Soccer Robots from Noisy Sensory Input SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-05-17T00:21:23.541576Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.