Paper Citation Record · LEDGER

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation

As of 9 August 2026, this Paper Citation Record lists 40 of 40 outbound references and 3 inbound Pith citation observations for arXiv:2506.22827.

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

pith.paper-citation-record.v1
2506.22827 v3

Coverage vector

measured 40 of 40 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T21:59:56.340266Z

measured 43 of 43 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-09T06:31:02.800959+00:00

measured 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-01T16:26:21.839155Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T14:59:55.584141Z

Reference resolution

40 of 40 outbound references displayed

verified exact0
verified fuzzy14
unresolved26
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 6fb2cb8b-4321-48bb-bdb7-59189996548d · outbound

This paper cites Pddl| the planning domain definition language.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Pddl| the planning domain definition language

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.553403Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 61c3af3c-568d-4eba-bff6-0c8e576d3da3 · outbound

This paper cites RT-H: Action Hierarchies Using Language.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation RT-H: Action Hierarchies Using Language

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.602106Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 954d7951-13ec-4c33-b96c-4a1416aeaa52 · outbound

This paper cites $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.680174Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b90758fc-2740-4c65-bc18-a54882e36608 · outbound

This paper cites RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.757636Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c7e8f828-9987-4e2f-887e-4330e5f0a59c · outbound

This paper cites NaVILA: Legged Robot Vision-Language-Action Model for Navigation.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation NaVILA: Legged Robot Vision-Language-Action Model for Navigation

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.812767Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation df44942e-909d-4459-8cb2-fe32739980ea · outbound

This paper cites Expressive Whole-Body Control for Humanoid Robots.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Expressive Whole-Body Control for Humanoid Robots

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:52.885794Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation aaef66cd-2cf1-4ca4-998e-2f2a53c78ebc · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Diffusion policy: Visuomotor policy learning via action diffusion

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:00:00.567283Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 98fa6ea6-affb-4ee6-ba8b-7d2214b656fb · outbound

This paper cites Local Policies Enable Zero-shot Long-horizon Manipulation.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Local Policies Enable Zero-shot Long-horizon Manipulation

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.047409Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a0742abe-62c4-480e-b1da-c1300c4156ac · outbound

This paper cites Keypoint Abstraction using Large Models for Object-Relative Imitation Learning.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Keypoint Abstraction using Large Models for Object-Relative Imitation Learning

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.126948Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 82e75abd-4182-4951-81a1-efdbb16c3e01 · outbound

This paper cites HumanPlus: Humanoid Shadowing and Imitation from Humans.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation HumanPlus: Humanoid Shadowing and Imitation from Humans

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.184656Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f7e3badf-5afc-4f12-9b3b-3ee07fa22b41 · outbound

This paper cites Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Humanoid Locomotion and Manipulation: Current Progress and Challenges in Control, Planning, and Learning

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.261446Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 771204e5-90fc-4b4a-bf16-e3a2b21619db · outbound

This paper cites OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.340248Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6d72997c-be56-422c-a291-f6a3cab0315e · outbound

This paper cites Learning human- to-humanoid real-time whole-body teleoperation.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Learning human- to-humanoid real-time whole-body teleoperation

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:00:00.421492Z

Source-reported events for the cited work

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Observation bcf186a8-89af-4632-9e27-f9ee2e9c0129 · outbound

This paper cites ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.456439Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 96a3af25-4ddc-41b0-b7bf-b39ca6820c95 · outbound

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

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Learning visual quadrupedal loco-manipulation from demonstrations

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:00:00.275793Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 22d8070d-4f94-4a11-9de5-d8990cee27e2 · outbound

This paper cites ExBody2: Advanced Expressive Humanoid Whole-Body Control.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation ExBody2: Advanced Expressive Humanoid Whole-Body Control

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.570181Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation af846065-345e-4923-875e-d175eeab42b4 · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation OpenVLA: An Open-Source Vision-Language-Action Model

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.626696Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 155af230-1722-417a-8b8b-ec423ee91e94 · outbound

This paper cites Hybrik: A hybrid analytical-neural inverse kinematics solution for 3d human pose and shape estimation.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Hybrik: A hybrid analytical-neural inverse kinematics solution for 3d human pose and shape estimation

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:00:00.148900Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 654c433f-530d-4754-987c-dae4a4dab890 · outbound

This paper cites HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.761474Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d1a32033-20af-4716-860d-7473735078a3 · outbound

This paper cites Amass: Archive of motion capture as surface shapes.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Amass: Archive of motion capture as surface shapes

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.839950Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 14e1c1cf-8de8-4721-bcd6-c51dd03aa27b · outbound

This paper cites Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learning

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.882437Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b86bce05-1870-42ab-9e99-1f1b7a87789b · outbound

This paper cites GPT-4o System Card.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation GPT-4o System Card

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.885543Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ef144ca4-ad03-40c1-9249-9331a438cd31 · outbound

This paper cites Quantifying representation reliability in self- supervised learning models.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Quantifying representation reliability in self- supervised learning models

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:00:00.021442Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 08e6259e-ca93-45fd-abcd-d066ccba20bc · outbound

This paper cites Learning transferable visual models from natural lan- guage supervision.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Learning transferable visual models from natural lan- guage supervision

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:59.754003Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3cee411b-bb72-4f69-8381-c25a03499276 · outbound

This paper cites Proximal Policy Optimization Algorithms.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Proximal Policy Optimization Algorithms

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:53.893050Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f85ddf26-eb7a-427d-bf0f-3e0cddc54035 · outbound

This paper cites Sketching curvature for efficient out-of-distribution de- tection for deep neural networks.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Sketching curvature for efficient out-of-distribution de- tection for deep neural networks

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:59.584238Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation b65000dd-4e99-4817-8c13-389d6a582cd6 · outbound

This paper cites Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:54.045154Z

Source-reported events for the cited work

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Observation 4af1bbd7-6916-4807-9ff2-dc4707d96035 · outbound

This paper cites Gemini Robotics: Bringing AI into the Physical World.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Gemini Robotics: Bringing AI into the Physical World

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:54.272484Z

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Observation d5ab2f0e-c7ce-4c27-b85d-e9c413905bda · outbound

This paper cites Guiding Long- Horizon Task and Motion Planning with Vision Language Models.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Guiding Long- Horizon Task and Motion Planning with Vision Language Models

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:59.446933Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 919de7e8-553f-4b0f-a847-4d1c298511a7 · outbound

This paper cites RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:54.651218Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4464a284-559b-402b-991d-d6a4a68f3a8e · outbound

This paper cites Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-06T21:59:54.883464Z

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Unavailable: canonical work link unavailable.

Observation e0ef84e1-fdca-4791-b012-c098fb6b0de1 · outbound

This paper cites Each hidden layer contains 256 units and ReLU activations.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Each hidden layer contains 256 units and ReLU activations

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:59.190833Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation dc1640ef-0d2e-4f0b-820a-f15281820a93 · outbound

This paper cites Example real-time teleoperation is shown in Fig.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Example real-time teleoperation is shown in Fig

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:58.953533Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation cb15ce47-7b67-4c12-9e2f-a726dd32d0cd · outbound

This paper cites an unresolved cited work.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Unresolved cited work

Reference 34

Resolution: unresolved; raw_fallback, observed 2026-08-06T21:59:58.588262Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3f425a5e-faa2-4428-bcb5-f951bb556e55 · outbound

This paper cites an unresolved cited work.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Unresolved cited work

Reference 35

Resolution: unresolved; raw_fallback, observed 2026-08-06T21:59:58.331603Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 3cfa29f1-7f4d-4cf3-86ab-01e7025baa78 · outbound

This paper cites , πk} based on visual inputs and task prompts.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation , πk} based on visual inputs and task prompts

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:58.060973Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 351fb3b2-1676-4a99-8d22-395d7b7314da · outbound

This paper cites an unresolved cited work.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Unresolved cited work

Reference 37

Resolution: unresolved; raw_fallback, observed 2026-08-06T21:59:57.668140Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation c5251146-6d4b-4e3c-8aeb-3c4fdb171b29 · outbound

This paper cites In this example, the monitor verifies whether the object (a) Human operator (b) HybrIK pose detection result Fig.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation In this example, the monitor verifies whether the object (a) Human operator (b) HybrIK pose detection result Fig

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:57.381780Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 9c910987-98bf-4326-a7f3-028e31efbba5 · outbound

This paper cites Once the monitor confidently determines the com- pletion of this skill, it signals the transition to the next planned skill.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation Once the monitor confidently determines the com- pletion of this skill, it signals the transition to the next planned skill

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:57.126378Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 981385a1-158a-47a2-8b43-36019b340246 · outbound

This paper cites skill_name.

Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation skill_name

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T21:59:56.764701Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Pith citing papers

Observation a9371fa1-1616-44d4-bff4-09ea5ae26d81 · inbound

VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation cites this paper.

VoLo: A Physical Orchestrator for Open-Vocabulary Long-Horizon Manipulation Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation

Reference 60

Resolution: verified exact; arxiv_id, observed 2026-07-02T19:07:18.196604Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 0775e951-af37-4281-8935-448110cc6792 · inbound

OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation cites this paper.

OmniContact: Chaining Meta-Skills via Contact Flow for Generalizable Humanoid Loco-Manipulation Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-07-04T14:59:55.585553Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-09T06:31:02.800959+00:00.

Observation 1236f92f-c8d7-4e0f-8607-e11f1936bf03 · inbound

Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation cites this paper.

Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation Hierarchical Vision-Language Planning for Multi-Step Humanoid Manipulation

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-01T16:26:21.839155Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.