Paper Citation Record · LEDGER

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

As of 8 August 2026, this Paper Citation Record lists 35 of 35 outbound references and 3 inbound Pith citation observations for arXiv:2505.15158.

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

pith.paper-citation-record.v1
2505.15158 v1

Coverage vector

measured 35 of 35 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T15:26:19.315414Z

measured 38 of 38 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 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-02T21:47:02.670015Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T06:49:37.365012Z

Reference resolution

35 of 35 outbound references displayed

verified exact2
verified fuzzy1
unresolved32
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation cf19d766-4d0a-4c2f-a32e-ad77fafe8109 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 1

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:22.156886Z

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 456a1887-5bea-4032-be5a-e8a44ec5f2fe · outbound

This paper cites Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T15:26:22.000189Z

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 6a46ff00-00a7-4369-b4ce-123f432ff936 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:16.773603Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8dad4a18-090b-49a9-8c9e-f5bf3c401cb1 · outbound

This paper cites InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:16.843194Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fa113238-c2e3-4b73-9c33-da209836ea04 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 5

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:21.889309Z

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 8ad5d3e4-5d55-43fb-873b-071bf990e986 · outbound

This paper cites Gemini: A Family of Highly Capable Multimodal Models.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Gemini: A Family of Highly Capable Multimodal Models

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:16.978560Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2aaa7a36-aa98-470d-90fd-b3db918749d9 · outbound

This paper cites Distilling Multi-modal Large Language Models for Autonomous Driving.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Distilling Multi-modal Large Language Models for Autonomous Driving

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.041923Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f6ff24b4-299a-4018-9bae-c2b75199eb5d · outbound

This paper cites ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning

Reference 8

Resolution: verified exact; local_arxiv, observed 2026-08-07T15:26:19.756781Z

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 0205744a-ee5c-43fa-b9a4-a19128446157 · outbound

This paper cites Planning-oriented Autonomous Driving.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Planning-oriented Autonomous Driving

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.195223Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e35246b2-6e7c-4dfa-9797-618863e16877 · outbound

This paper cites EMMA: End-to-End Multimodal Model for Autonomous Driving.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving EMMA: End-to-End Multimodal Model for Autonomous Driving

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.254495Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 631a7b44-20fd-4421-b84c-a6461fb45ae2 · outbound

This paper cites DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.326624Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d9c22827-1782-40e5-9f9a-66cb89db290f · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 12

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:21.763414Z

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 ad10641a-b519-498f-812e-2b295dd6cf6e · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 13

Resolution: verified exact; doi, observed 2026-08-07T15:26:19.561187Z

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 7e7f7410-9bf2-4fc8-b3a7-cb252e445e5e · outbound

This paper cites MaPLe: Multi-modal Prompt Learning.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving MaPLe: Multi-modal Prompt Learning

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.558924Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 52dba4aa-9cc3-4ac3-bcb1-767779782df6 · outbound

This paper cites BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.631529Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d69af906-1b03-4264-8ddb-7ab5973239d0 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.719993Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 43e79d6a-9fcf-4fd0-b2d5-e315aa621378 · outbound

This paper cites Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:17.808573Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b5091e85-3487-48ba-88c8-f4a9c8a2ef32 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 18

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:21.637119Z

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 d373678a-c0de-4423-86f3-9055eb4b1c2d · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 19

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:21.306261Z

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 4a576b6b-043b-45bc-a18c-98685ff07699 · outbound

This paper cites GPT-4 Technical Report.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving GPT-4 Technical Report

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.058284Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6c5d2e34-7d40-4c42-a802-9e1d968b2b34 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.114516Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b9082b67-704f-4136-83fe-45d508f418d6 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.191259Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ed9aa2a9-9b67-4125-b589-08e59f796317 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 23

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:20.781898Z

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 1a932090-9928-47e5-b1e9-0b0223ac7ed4 · outbound

This paper cites SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.288780Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8953d76b-f3b1-4388-8460-12ce2453092c · outbound

This paper cites DriveLM: Driving with Graph Visual Question Answering.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving DriveLM: Driving with Graph Visual Question Answering

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.380536Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bb8ae7fa-fad3-4aae-9b80-b3eda8d25648 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 26

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:20.419552Z

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 f949faf8-0eec-4125-ab79-1d5c4b36f8a3 · outbound

This paper cites DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.535398Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6ed42a88-248e-41b8-ae40-1b1549dd7348 · outbound

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

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Llama 2: Open Foundation and Fine-Tuned Chat Models

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.648591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ca769a45-7cb3-4383-9837-bc5611fadf4b · outbound

This paper cites Lawrence Zitnick, and Devi Parikh.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Lawrence Zitnick, and Devi Parikh

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.702931Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b70880d3-014f-40a8-a9d1-67d5feb839a7 · outbound

This paper cites OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.854807Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9eab7ea3-7c9f-4788-8325-5b2ff3ee69f6 · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:18.923691Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 421d65ab-5cb5-4a72-8212-34e20fc83c83 · outbound

This paper cites Representation Alignment for Generation: Training Diffusion Transformers Is Easier Than You Think.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Representation Alignment for Generation: Training Diffusion Transformers Is Easier Than You Think

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:19.031329Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37ce54a7-2a8b-4c26-b6fa-b8db6f118cbe · outbound

This paper cites an unresolved cited work.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving Unresolved cited work

Reference 33

Resolution: unresolved; raw_fallback, observed 2026-08-07T15:26:20.233031Z

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 ddc25247-5a8c-4cea-b97e-e5db12b8cb35 · outbound

This paper cites online" 'onlinestring :=.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving online" 'onlinestring :=

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:19.184410Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5742037c-6e95-4b16-b57c-55887bab7783 · outbound

This paper cites write newline.

ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving write newline

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T15:26:19.315414Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 14e1929a-b501-4557-a95a-7c73372ad31b · inbound

A User-driven Design Framework for Robotaxi cites this paper.

A User-driven Design Framework for Robotaxi ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-02T21:47:02.670015Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5dbbdbc8-54af-4fce-a6d4-a34b3d1c2154 · inbound

VLADriveBench: Evaluating CoT-Action Relationship in VLA for Autonomous Driving cites this paper.

VLADriveBench: Evaluating CoT-Action Relationship in VLA for Autonomous Driving ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-07-03T11:18:03.680384Z

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 aa57fb8a-21a9-43bd-bc8d-0ff6670aabc6 · inbound

FleetAgent: Teleoperation Assistant for Autonomous Fleets via Vectorized V2N Messages cites this paper.

FleetAgent: Teleoperation Assistant for Autonomous Fleets via Vectorized V2N Messages ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving

Reference 25

Resolution: verified exact; arxiv_id, observed 2026-07-04T06:49:37.368180Z

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.