Paper Citation Record · LEDGER

VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

As of 8 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 34 inbound Pith citation observations for arXiv:2505.09577.

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

pith.paper-citation-record.v1
2505.09577 v1

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 34 of 34 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 34 of 34 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T05:51:28.929585Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-03T17:48:45.818442Z

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 85047882-7362-46eb-84ff-ed2d40f024f9 · inbound

MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation cites this paper.

MapNav: A Novel Memory Representation via Annotated Semantic Maps for Vision-and-Language Navigation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 45

Resolution: verified exact; arxiv_id, observed 2026-05-23T03:02:27.106028Z

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 f03eee57-e0a7-44aa-a3f0-5f25f92a8554 · inbound

Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey cites this paper.

Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Survey VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 103

Resolution: verified exact; arxiv_id, observed 2026-05-17T20:28:16.076931Z

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 bc867176-91dc-456c-ba8c-bf5fa9a08035 · inbound

TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance cites this paper.

TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 70

Resolution: verified exact; arxiv_id, observed 2026-05-16T11:07:47.761991Z

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 6f6edddc-ed13-4a38-b6c0-3a389dc659fb · inbound

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter cites this paper.

DECO: Decoupled Multimodal Diffusion Transformer for Bimanual Dexterous Manipulation with a Plugin Tactile Adapter VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-03T04:18:56.611547Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 67a794c7-e44f-438e-9a1b-7b54d296ebff · inbound

Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control cites this paper.

Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-05-15T17:16:21.377351Z

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 ec069182-79b7-44c5-95e1-cdd717e5839b · inbound

Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control cites this paper.

Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-02T19:00:02.184000Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 87599493-c667-41ca-a8d9-1eb946e8a5af · inbound

EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation cites this paper.

EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-02T18:34:48.702793Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 54ebce5b-3ef5-44da-bbed-05a604582b7d · inbound

Tactile Modality Fusion for Vision-Language-Action Models cites this paper.

Tactile Modality Fusion for Vision-Language-Action Models VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 68

Resolution: unresolved; no resolver link, observed 2026-08-02T18:13:11.413729Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6a1df052-d7e4-4675-8834-7f7842876603 · inbound

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing cites this paper.

HapticVLA: Contact-Rich Manipulation via Vision-Language-Action Model without Inference-Time Tactile Sensing VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-04T05:51:28.929585Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 003e1b12-b783-42fa-97c2-38b084887864 · inbound

ThermoAct:Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making cites this paper.

ThermoAct:Thermal-Aware Vision-Language-Action Models for Robotic Perception and Decision-Making VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 25

Resolution: verified exact; arxiv_id, observed 2026-05-15T00:48:24.801503Z

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 41a142b3-56bb-4fdb-8ffc-ee4b9fbbf403 · inbound

Learning Versatile Humanoid Manipulation with Touch Dreaming cites this paper.

Learning Versatile Humanoid Manipulation with Touch Dreaming VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 50

Resolution: verified exact; arxiv_id, observed 2026-05-11T11:31:03.197264Z

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 e128bd5a-7e36-431b-a22d-ab8b7627f2d1 · inbound

Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models cites this paper.

Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-05-11T20:46:09.813784Z

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 2c998959-2884-4334-8a54-46774c488c89 · inbound

RLDX-1 Technical Report cites this paper.

RLDX-1 Technical Report VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 118

Resolution: verified exact; arxiv_id, observed 2026-05-12T10:51:30.989676Z

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 a3ff81c1-1dda-4a1c-98f2-4f71451eb0df · inbound

RLDX-1 Technical Report cites this paper.

RLDX-1 Technical Report VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 118

Resolution: verified exact; arxiv_id, observed 2026-05-09T06:05:35.093062Z

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 e878782d-1bf3-4a67-a9a6-ad4993fb9adc · inbound

AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models cites this paper.

AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 46

Resolution: verified exact; arxiv_id, observed 2026-05-11T04:25:57.913998Z

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 8022e4eb-e605-429b-a2ef-8ab7835c3799 · inbound

AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models cites this paper.

AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 46

Resolution: verified exact; arxiv_id, observed 2026-05-20T23:23:51.399978Z

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 5cc4fca7-2ba3-4457-8197-de2dad359cf1 · inbound

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms cites this paper.

Tactile-based Multimodal Fusion in Embodied Intelligence: A Survey of Vision, Language, and Contact-Driven Paradigms VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-05-20T12:53:17.455775Z

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 a39e7b79-e3be-479f-9448-e9e473ed3550 · inbound

VL-DPO: Vision-Language-Guided Finetuning for Preference-Aligned Autonomous Driving cites this paper.

VL-DPO: Vision-Language-Guided Finetuning for Preference-Aligned Autonomous Driving VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 35

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:43:06.044789Z

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 deb86fcf-2648-4ac3-a21b-60b33e5e0024 · inbound

GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representations cites this paper.

GesVLA: Gesture-Aware Vision-Language-Action Model Embedded Representations VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 18

Resolution: verified exact; arxiv_id, observed 2026-05-22T04:54:36.789826Z

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 39320593-d38a-4be3-a221-2606b236d181 · inbound

OneVLA: A Unified Framework for Embodied Tasks cites this paper.

OneVLA: A Unified Framework for Embodied Tasks VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 51

Resolution: verified exact; arxiv_id, observed 2026-07-01T21:26:14.119462Z

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 aba90667-92f1-495b-8f7c-488d0521de8c · inbound

Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation cites this paper.

Multi-Resolution Tactile Imitation Learning for Contact-Rich Robotic Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-07-02T13:46:59.709221Z

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 600bdd2c-bef5-4a56-a973-15f07c022c21 · inbound

Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation cites this paper.

Dream-Tac: A Unified Tactile World Action Model for Contact-Rich Robot Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 60

Resolution: verified exact; arxiv_id, observed 2026-07-02T23:27:26.846188Z

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 dfdb8e34-46fa-491c-8435-1402e3399fcb · inbound

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation cites this paper.

TORL-VLA: Tactile Guided Online Reinforcement Learning for Contact-Rich Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:27:31.318702Z

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 5ad00eeb-cbaf-40ce-8dcd-0a4521a1f9c4 · inbound

AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning cites this paper.

AetheRock: An Arm-Worn Robot Teaching System for Force-Guided Vision-Tactile Learning VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 45

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:37:30.970592Z

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 3d83f345-cd47-4999-b134-8612b7a929ba · inbound

T-Rex: Tactile-Reactive Dexterous Manipulation cites this paper.

T-Rex: Tactile-Reactive Dexterous Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-07-03T17:48:45.819744Z

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 fa9295e3-16b9-4bc9-b4e1-a29da44ffac2 · inbound

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models cites this paper.

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-06-30T13:24:40.657005Z

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 016b8ec0-921f-447f-a891-ccb3dc999813 · inbound

Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation cites this paper.

Seeing Touch from Motion: A Unified Modality-Aware Visuo-Tactile Policy with Tactile Motion Correlation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 67

Resolution: verified exact; arxiv_id, observed 2026-06-30T13:24:41.083919Z

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 8e932c72-171b-4768-960b-dc21080c4b12 · inbound

UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation cites this paper.

UniTac: A Unified Multimodal Model for Cross-Sensor Tactile Understanding and Generation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 48

Resolution: metadata mismatch; arxiv_id, observed 2026-07-01T10:05:40.667113Z

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 04aa15f3-f957-4ac0-bbbd-82c62f85dd21 · inbound

VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation cites this paper.

VT-WAM: Visual-Tactile World Action Model for Contact-Rich Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-07-03T10:37:56.171158Z

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 288bb0f1-15a9-4c4f-b40d-f2a3d6025a3d · inbound

Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation cites this paper.

Feeling the Unexpected: ResTacVLA for Contact-Rich Manipulation via Residual Tactile Representation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 8

Resolution: unresolved; no resolver link, observed 2026-07-12T02:52:21.616045Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 86468231-dc2d-4628-ac08-96c85388bd7b · inbound

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects cites this paper.

SoftVTBench: A Safety-Aware Visuo-Tactile Benchmark for Physically Constrained Robotic Manipulation of Deformable Objects VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 32

Resolution: unresolved; no resolver link, observed 2026-07-11T20:46:04.923901Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2bb9e23c-9859-4fea-bcf7-1f0074e5f471 · inbound

Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation cites this paper.

Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-02T01:39:24.316369Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0be13bcd-9d77-4c44-befc-92e4441947ba · inbound

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation cites this paper.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.315740Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 347ed5ec-02fc-4dc2-af20-803662fa2efe · inbound

TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction cites this paper.

TacWAM: Anchor-Guided World Action Model with Mechanics-Aware Tactile Prediction VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-31T08:56:17.620543Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.