Paper Citation Record · LEDGER

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction

As of 6 August 2026, this Paper Citation Record lists 36 of 36 outbound references and 2 inbound Pith citation observations for arXiv:2501.00112.

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

pith.paper-citation-record.v1
2501.00112 v3

Coverage vector

measured 36 of 36 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-23T05:56:59.904203Z

measured 38 of 38 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-06T06:34:29.942622+00:00

measured 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-02T15:09:25.390353Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-05-11T15:31:20.116222Z

Reference resolution

36 of 36 outbound references displayed

verified exact1
verified fuzzy35
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation c16bdd7b-f276-4b50-b17b-4f8dc2b48483 · outbound

This paper cites The DARPA LAGR program: Goals, challenges, methodology, and phase I results.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction The DARPA LAGR program: Goals, challenges, methodology, and phase I results

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.099746Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 83c225ad-3a59-4a79-b091-3d59ffc5f2d4 · outbound

This paper cites Stereo-vision-based perception capabilities developed during the Robotics Collaborative Technology Alliances pro- gram.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Stereo-vision-based perception capabilities developed during the Robotics Collaborative Technology Alliances pro- gram

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.106617Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 73765d91-e140-411e-8784-1e11823481e5 · outbound

This paper cites Learning Off-Road Terrain Traversability With Self- Supervisions Only.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Learning Off-Road Terrain Traversability With Self- Supervisions Only

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.089636Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 870bbd5b-a3e3-468a-a544-3423bdeb2ccc · outbound

This paper cites Terrain traversability prediction through self-supervised learning and un- supervised domain adaptation on synthetic data.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Terrain traversability prediction through self-supervised learning and un- supervised domain adaptation on synthetic data

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.074560Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f428a07a-3a57-426a-9b69-a85830035956 · outbound

This paper cites Elevation Mapping for Locomotion and Navigation using GPU.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Elevation Mapping for Locomotion and Navigation using GPU

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.071100Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9a432a95-830d-416a-8d21-c8fff55f1f59 · outbound

This paper cites STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.023502Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7d34845c-454b-4534-87f1-8e7bd39ea023 · outbound

This paper cites Mine Tunnel Exploration using Multiple Quadrupedal Robots.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Mine Tunnel Exploration using Multiple Quadrupedal Robots

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.085547Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e98271ed-fec3-4527-bf6b-8920756659a6 · outbound

This paper cites OHM: GPU Based Occupancy Map Generation.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction OHM: GPU Based Occupancy Map Generation

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.092882Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 889202ba-c746-4120-a29f-d18056ac94d6 · outbound

This paper cites Flexible Supervised Autonomy for Exploration in Subterranean Environments.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Flexible Supervised Autonomy for Exploration in Subterranean Environments

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.078111Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 02978e7e-9fd5-4981-8816-e49f1031c0e9 · outbound

This paper cites Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.096177Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 90e94cb6-88c2-4430-b48c-b0db7020e75d · outbound

This paper cites NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-05-23T05:57:36.702893Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 6b37ff65-9450-4db9-920c-831bdfc34c4d · outbound

This paper cites Heterogeneous robot teams with uni- fied perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Heterogeneous robot teams with uni- fied perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.103190Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4ee0429e-b947-4287-a204-a69bfca076a6 · outbound

This paper cites Perceptive Locomotion in Rough Terrain – Online Foothold Optimization.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Perceptive Locomotion in Rough Terrain – Online Foothold Optimization

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.117738Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7ee71638-474b-4024-b77c-d4d6175dedef · outbound

This paper cites Where Should I Walk? Predicting Terrain Properties From Images Via Self- Supervised Learning.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Where Should I Walk? Predicting Terrain Properties From Images Via Self- Supervised Learning

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.145662Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation cd0aaa8b-299a-4f65-a317-7c438b519b3d · outbound

This paper cites Prediction Maps for Real-Time 3D Footstep Planning in Dynamic Environments.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Prediction Maps for Real-Time 3D Footstep Planning in Dynamic Environments

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.038537Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 848a4ce7-2cfd-4517-b689-1033ed3c8b50 · outbound

This paper cites Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Vision Aided Dynamic Exploration of Unstructured Terrain with a Small-Scale Quadruped Robot

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.045968Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 94cfee68-491f-45a9-8400-4314ac7bd7dd · outbound

This paper cites Foot- step Planning for Autonomous Walking Over Rough Terrain.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Foot- step Planning for Autonomous Walking Over Rough Terrain

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.135193Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 751ba25e-efb0-473e-8223-7a5995914d57 · outbound

This paper cites Detecting Usable Planar Regions for Legged Robot Locomotion.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Detecting Usable Planar Regions for Legged Robot Locomotion

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.110646Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e0c04f1f-f606-493f-b3ec-43e94a2add37 · outbound

This paper cites Perceptive whole-body planning for multilegged robots in confined spaces.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Perceptive whole-body planning for multilegged robots in confined spaces

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.063413Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9c69dbc1-f4a1-45bb-986b-d8ba6e112b64 · outbound

This paper cites Perceptive Lo- comotion through Nonlinear Model Predictive Control.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Perceptive Lo- comotion through Nonlinear Model Predictive Control

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.131630Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 18e634f0-56a6-429b-aad2-68d1a4565e06 · outbound

This paper cites PiPS: Planning in perception space.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction PiPS: Planning in perception space

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.142305Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 8c6fa171-5993-44e1-a787-0e512f5f2d25 · outbound

This paper cites Potential Gap: A Gap-Informed Reactive Policy for Safe Hierarchical Navigation.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Potential Gap: A Gap-Informed Reactive Policy for Safe Hierarchical Navigation

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.060372Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation d12693aa-2912-40e9-80b5-13fb65e3ba29 · outbound

This paper cites Real-Time Egocentric Navigation Using 3D Sensing.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Real-Time Egocentric Navigation Using 3D Sensing

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.128310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 0671f7bc-8219-49f9-bad9-7ff7f3ef0d27 · outbound

This paper cites egoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction egoTEB: Egocentric, Perception Space Navigation Using Timed-Elastic-Bands

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.042327Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 61f61eff-e949-4f20-b977-da0d7422ff97 · outbound

This paper cites Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Deep Visual Reasoning: Learning to Predict Action Sequences for Task and Motion Planning from an Initial Scene Image

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.124735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a3c40950-aea8-4c0c-b9a6-7b6999c5821a · outbound

This paper cites Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.121187Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation b7210d9b-f9ba-4599-b2f6-cd3c13435c53 · outbound

This paper cites Learning to Navigate Sidewalks in Outdoor Environments.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Learning to Navigate Sidewalks in Outdoor Environments

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.057016Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c60961ee-481a-4058-8fe5-b24e8e0118c4 · outbound

This paper cites Legged Locomotion in Chal- lenging Terrains using Egocentric Vision.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Legged Locomotion in Chal- lenging Terrains using Egocentric Vision

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.114352Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 18cb9e77-8ff2-4d8f-a9e9-c4be7a7bc968 · outbound

This paper cites Shape- Primitive Based Object Recognition and Grasping.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Shape- Primitive Based Object Recognition and Grasping

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.053505Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7672d6eb-4062-457b-bdb9-b65cacdd8f13 · outbound

This paper cites Using synthetic data and deep net- works to recognize primitive shapes for object grasping.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Using synthetic data and deep net- works to recognize primitive shapes for object grasping

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.066984Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 96b3990a-1407-4ef8-8b2a-f30c27b4030d · outbound

This paper cites Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Encoder-Decoder with Atrous Separable Convolution for Semantic Image Segmentation

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.081872Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 2cfb182e-6e7b-4901-aca4-660a1a97984f · outbound

This paper cites Detectron2.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Detectron2

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.030541Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c20e5cf9-fc8f-4906-b157-ba1c995c8be5 · outbound

This paper cites Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traver- sal.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Hierarchical Experience-informed Navigation for Multi-modal Quadrupedal Rebar Grid Traver- sal

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.049818Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4bef262b-00aa-4c24-ab61-d2415f267fcc · outbound

This paper cites Scaling Multimodal Planning: Using Experience and Informing Discrete Search.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Scaling Multimodal Planning: Using Experience and Informing Discrete Search

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.034576Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7b0bf01c-0166-4118-a883-dd70dde95015 · outbound

This paper cites Centroidal dynamics of a humanoid robot.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction Centroidal dynamics of a humanoid robot

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.138669Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 57818bce-6757-449d-ba05-86bb308e2975 · outbound

This paper cites A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation.

QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-05-23T05:57:37.026866Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Pith citing papers

Observation a534d5e3-176a-44b1-b1a7-4c0994f1efff · inbound

Task-Conditioned Uncertainty Costmaps for Legged Locomotion cites this paper.

Task-Conditioned Uncertainty Costmaps for Legged Locomotion QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction

Reference 1

Resolution: verified exact; local_arxiv, observed 2026-05-11T15:31:20.147217Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4cf427e7-cd25-40ed-a82a-616d7d58784c · inbound

Task-Conditioned Uncertainty Costmaps for Legged Locomotion cites this paper.

Task-Conditioned Uncertainty Costmaps for Legged Locomotion QuadPiPS: A Perception-informed Footstep Planner for Quadrupeds With Semantic Affordance Prediction

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-02T15:09:25.390353Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.