Paper Citation Record · LEDGER

SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

As of 4 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 27 inbound Pith citation observations for arXiv:2307.06135.

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

pith.paper-citation-record.v1
2307.06135 v2

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 27 of 27 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-04T06:34:03.388597+00:00

measured 27 of 27 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T04:53:32.653060Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-07-11T00:27:51.706200Z

Reference resolution

0 of 0 outbound references displayed

verified exact0
verified fuzzy0
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

No outbound reference observations are available for this paper version.

Pith citing papers

Observation 1f0cbea0-5450-4561-9a44-1f10f2905b5d · inbound

LLM+P: Empowering Large Language Models with Optimal Planning Proficiency cites this paper.

LLM+P: Empowering Large Language Models with Optimal Planning Proficiency SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 56

Resolution: verified exact; arxiv_id, observed 2026-05-14T18:36:18.527186Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 464401c7-3695-4562-99ac-6916fec9d32d · inbound

The Rise and Potential of Large Language Model Based Agents: A Survey cites this paper.

The Rise and Potential of Large Language Model Based Agents: A Survey SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 261

Resolution: verified exact; arxiv_id, observed 2026-05-11T10:47:51.201250Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 1b6baad1-4323-4e0d-8a14-f2aac69a4c17 · inbound

Towards Robust Surgical Automation via Digital Twin Representations from Foundation Models cites this paper.

Towards Robust Surgical Automation via Digital Twin Representations from Foundation Models SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 58

Resolution: verified exact; arxiv_id, observed 2026-05-23T20:23:24.908107Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 7060d48a-054d-4266-bbb6-05ed2016c2fa · inbound

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy cites this paper.

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-05-14T20:09:39.885407Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 89991576-c3ef-45da-a690-a09aa40e04de · inbound

BridgeEQA: Virtual Embodied Agents for Real Bridge Inspections cites this paper.

BridgeEQA: Virtual Embodied Agents for Real Bridge Inspections SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 37

Resolution: verified exact; arxiv_id, observed 2026-05-17T21:42:07.520279Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 7183b726-50d0-43b6-bdf9-c7758403bdf7 · inbound

VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models cites this paper.

VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-03T12:30:33.851410Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cdb88895-7386-4f05-b932-c22efcb1f1ef · inbound

ST-BiBench: Benchmarking Multi-Stream Multimodal Coordination in Bimanual Embodied Tasks for MLLMs cites this paper.

ST-BiBench: Benchmarking Multi-Stream Multimodal Coordination in Bimanual Embodied Tasks for MLLMs SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 92

Resolution: verified exact; arxiv_id, observed 2026-05-16T06:00:40.551146Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 59f8d4d0-f2b5-4e8d-8775-fb221f3857ad · 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 SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 25

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 d95ca078-d4c7-4d08-b803-8202abbc102d · inbound

KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis cites this paper.

KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 42

Resolution: verified exact; arxiv_id, observed 2026-05-10T23:55:51.408336Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 29292972-e6f0-478c-a6e7-67beb1167c28 · inbound

Long-Horizon Manipulation via Trace-Conditioned VLA Planning cites this paper.

Long-Horizon Manipulation via Trace-Conditioned VLA Planning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 54

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T14:41:38.912572Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation c7bad49e-a12e-4f48-a022-c9aebabb12f8 · inbound

When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution cites this paper.

When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-15T01:59:38.797026Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 89dc4626-a02e-418e-aa0a-afa44978b6d3 · inbound

When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution cites this paper.

When Robots Do the Chores: A Benchmark and Agent for Long-Horizon Household Task Execution SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-20T21:29:03.260859Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 090d9f00-0746-45ee-a5f0-15f9a2207ca0 · inbound

TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning cites this paper.

TaskGround: Structured Executable Task Inference for Full-Scene Household Reasoning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 33

Resolution: verified exact; arxiv_id, observed 2026-05-20T11:03:13.964857Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 887ac83c-40d1-4a87-ab18-3fde5e506a30 · 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 SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 5

Resolution: verified exact; arxiv_id, observed 2026-05-20T09:58:10.975206Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation cf6780ab-221f-45f3-b515-fd0efc268bd9 · 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 SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 5

Resolution: verified exact; arxiv_id, observed 2026-05-20T09:53:15.852931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 54efcc15-1a77-4860-9105-58df4d41336b · inbound

Beyond Waypoints: Dual-Heatmap Grounding for Cross-Embodiment Semantic Navigation cites this paper.

Beyond Waypoints: Dual-Heatmap Grounding for Cross-Embodiment Semantic Navigation SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:58:05.375427Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 40858956-f687-4756-b479-87760731ff17 · inbound

VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding cites this paper.

VEOcc: Voxel-Centric Online Semantic Occupancy Prediction For Embodied Scene Understanding SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-06-30T12:34:39.623503Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 9d986ea5-3112-4d4b-a061-b36e7f4167e2 · inbound

The Sword, Shield, and Achilles' Heel: Characterizing the Linguistic Inductive Bias of Large Language Models for Spatial Reasoning in Navigation Planning cites this paper.

The Sword, Shield, and Achilles' Heel: Characterizing the Linguistic Inductive Bias of Large Language Models for Spatial Reasoning in Navigation Planning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-07-01T19:36:08.359447Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 9442d808-1f24-4934-886f-86016d9064e3 · inbound

ANCHOR: Agentic Noise Creation Framework for Human Simulation and Denoising Recommendation cites this paper.

ANCHOR: Agentic Noise Creation Framework for Human Simulation and Denoising Recommendation SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-07-02T15:27:04.858486Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 8310fa09-88b6-440e-990c-70e7f4f4ff58 · inbound

ANCHOR: Agentic Noise Creation Framework for Human Simulation and Denoising Recommendation cites this paper.

ANCHOR: Agentic Noise Creation Framework for Human Simulation and Denoising Recommendation SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-04T04:53:32.653060Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d44b5d46-b785-4e94-bfe7-405d1aacb510 · inbound

AlloSpatial: Agentic Harness Framework for Spatial Reasoning in Foundation Models cites this paper.

AlloSpatial: Agentic Harness Framework for Spatial Reasoning in Foundation Models SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-07-03T00:27:30.262195Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 3da9c0b3-edce-430c-8fb3-878f74744026 · inbound

ASCII Art Turns LLMs into VLA Controllers cites this paper.

ASCII Art Turns LLMs into VLA Controllers SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-07-04T06:19:38.773223Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation f6124dd5-3be3-486f-9d8a-e72b718fcf0f · inbound

Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning cites this paper.

Plan Right, Then Plan Tight: Symbolic RL for Efficient Embodied Reasoning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 2

Resolution: metadata mismatch; arxiv_id, observed 2026-07-01T10:35:42.485449Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 59caeb1f-a6a7-49f4-83dd-6722e517e5b3 · inbound

Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning cites this paper.

Hypothesis-driven Model Expansion under Uncertainty for Open-World Robot Planning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 49

Resolution: verified exact; local_arxiv, observed 2026-07-11T00:27:51.729634Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation e786ef67-e19e-4240-af3e-c6d0c3053370 · inbound

CAIRN: Cross-Room 3D Scene Understanding with Topology-Aware Large Multimodal Models cites this paper.

CAIRN: Cross-Room 3D Scene Understanding with Topology-Aware Large Multimodal Models SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 45

Resolution: verified exact; local_arxiv, observed 2026-07-08T02:44:27.736477Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-04T06:34:03.388597+00:00.

Observation 98e9f947-7003-48a4-a3df-5864d3af193b · inbound

CAIRN: Cross-Room 3D Scene Understanding with Topology-Aware Large Multimodal Models cites this paper.

CAIRN: Cross-Room 3D Scene Understanding with Topology-Aware Large Multimodal Models SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 45

Resolution: unresolved; no resolver link, observed 2026-07-14T16:00:13.133298Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3969548e-c33a-478b-bcde-b60800432059 · inbound

LEACL: LLM-Enhanced Automatic Curriculum Learning for Reinforcement Learning in Long-Horizon Manipulation Tasks cites this paper.

LEACL: LLM-Enhanced Automatic Curriculum Learning for Reinforcement Learning in Long-Horizon Manipulation Tasks SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-30T20:27:56.042565Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.