Paper Citation Record · LEDGER

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

As of 7 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 3 inbound Pith citation observations for arXiv:2506.07454.

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

pith.paper-citation-record.v1
2506.07454 v2

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T05:37:20.972636Z

measured 40 of 40 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-07T06:34:17.273281+00:00

measured 3 of 3 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-04T13:52:24.838819Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T19:20:06.914455Z

Reference resolution

37 of 37 outbound references displayed

verified exact0
verified fuzzy34
unresolved3
parse uncertain0
malformed identifier0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 5b6c189d-5a36-44df-bce5-e575252b0cd2 · outbound

This paper cites Foundations of spatial perception for robotics: Hierarchical representations and real-time systems,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Foundations of spatial perception for robotics: Hierarchical representations and real-time systems,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.439325Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 0a539971-74ff-4926-b58a-5f847c75a77c · outbound

This paper cites Hydra-Multi: Collaborative online construction of 3D scene graphs with multi-robot teams,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Hydra-Multi: Collaborative online construction of 3D scene graphs with multi-robot teams,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.430214Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 8c6e469d-4633-49f8-942e-c450efe1f7e0 · outbound

This paper cites Conceptgraphs: Open-vocabulary 3D scene graphs for perception and planning,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Conceptgraphs: Open-vocabulary 3D scene graphs for perception and planning,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.420371Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 69ecee18-3dc2-4d95-8707-837c706e02fd · outbound

This paper cites Roman: Open-set object map alignment for robust view-invariant global localization,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Roman: Open-set object map alignment for robust view-invariant global localization,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.408439Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation a3986d38-26e8-463c-a358-ebac7c269464 · outbound

This paper cites Task and motion planning in hierarchical 3D scene graphs,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Task and motion planning in hierarchical 3D scene graphs,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.398842Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation e36f87c1-bfd9-403d-8959-00d2869eefb7 · outbound

This paper cites Sayplan: Grounding large language models using 3D scene graphs for scalable robot task planning,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Sayplan: Grounding large language models using 3D scene graphs for scalable robot task planning,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.388579Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation b6ec9f6d-a496-46d9-9deb-7d8028a07c8a · outbound

This paper cites Optimal scene graph planning with large language model guidance,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Optimal scene graph planning with large language model guidance,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.378580Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 8b1573d2-dcf2-4c50-9fa2-2f3c4c0f21fe · outbound

This paper cites PDDL – the planning domain definition language,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs PDDL – the planning domain definition language,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.368083Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 99edc6f6-4acd-4477-9780-1407b345812d · outbound

This paper cites Indoor and outdoor 3D scene graph generation via language-enabled spatial ontologies,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Indoor and outdoor 3D scene graph generation via language-enabled spatial ontologies,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.357957Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 6c9f1d52-a35a-4a8a-a30b-cc726fd6fc31 · outbound

This paper cites Least squares quantization in PCM,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Least squares quantization in PCM,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.346993Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 66a4881b-970d-41cd-8dba-46cb47c4b51e · outbound

This paper cites Learning transferable visual models from natural language supervision,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Learning transferable visual models from natural language supervision,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.336780Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation bc8eca89-460e-4269-93fd-3d4a8bbf2672 · outbound

This paper cites PDDLStream: Integrat- ing symbolic planners and blackbox samplers via optimistic adaptive planning,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs PDDLStream: Integrat- ing symbolic planners and blackbox samplers via optimistic adaptive planning,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.326584Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 3e07ca54-a7a4-40a0-b851-a3f7936d7dae · outbound

This paper cites AutoTAMP: Au- toregressive task and motion planning with LLMs as translators and checkers,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs AutoTAMP: Au- toregressive task and motion planning with LLMs as translators and checkers,

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.317119Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation b3685cab-53f0-4211-aaae-d62f1e93d7a5 · outbound

This paper cites LOCUS 2.0: Robust and computationally efficient lidar odometry for real-time underground 3D mapping,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs LOCUS 2.0: Robust and computationally efficient lidar odometry for real-time underground 3D mapping,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.307035Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation adb0888a-8ac1-4af7-877b-228285882117 · outbound

This paper cites Optimal transport aggregation for visual place recog- nition,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Optimal transport aggregation for visual place recog- nition,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.297353Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 4ce34915-39ee-410e-9c85-5c20789d745e · outbound

This paper cites Resilient and distributed multi-robot visual SLAM: Datasets, experi- ments, and lessons learned,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Resilient and distributed multi-robot visual SLAM: Datasets, experi- ments, and lessons learned,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.287196Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 315392bd-d0f1-47e8-9644-941ad1f58d40 · outbound

This paper cites SuperPoint: Self-supervised interest point detection and description,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs SuperPoint: Self-supervised interest point detection and description,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.277139Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation ab269ee1-eb5a-42fa-b639-8ed89c57cdb9 · outbound

This paper cites LightGlue: Local Feature Match- ing at Light Speed,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs LightGlue: Local Feature Match- ing at Light Speed,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.266631Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation fb995531-bd8f-4731-b16f-31551bf80a47 · outbound

This paper cites 3D scene graph: A structure for unified semantics, 3D space, and camera,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs 3D scene graph: A structure for unified semantics, 3D space, and camera,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.255360Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 4ae8a89d-aa57-4b18-8ca0-467065151be5 · outbound

This paper cites Kimera: From SLAM to spatial perception with 3D dynamic scene graphs,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Kimera: From SLAM to spatial perception with 3D dynamic scene graphs,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.245444Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 0c13cc9d-01c5-4d06-b40c-99618f57bc3c · outbound

This paper cites S-graphs+: Real-time localization and mapping leveraging hierarchical representations,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs S-graphs+: Real-time localization and mapping leveraging hierarchical representations,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.235435Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 6e9e3d23-f457-427b-83d0-988577f4ad09 · outbound

This paper cites Clio: Real-time task-driven open-set 3D scene graphs,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Clio: Real-time task-driven open-set 3D scene graphs,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.225573Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 6b8c36d1-95dd-4fa0-820a-16a10123c107 · outbound

This paper cites Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Hierarchical open-vocabulary 3D scene graphs for language-grounded robot navigation,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.215931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 4622980f-deac-40b1-8f42-6234a3a58766 · outbound

This paper cites Taskography: Evaluating robot task planning over large 3D scene graphs,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Taskography: Evaluating robot task planning over large 3D scene graphs,

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.206212Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 42784bd4-659a-4f62-9e5b-1f298ce052da · outbound

This paper cites Language models as zero- shot planners: Extracting actionable knowledge for embodied agents,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Language models as zero- shot planners: Extracting actionable knowledge for embodied agents,

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.196291Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 9263c03b-bc72-4301-8bb0-d497a53c7d40 · outbound

This paper cites Do as I can, not as I say: Grounding language in robotic affor- dances,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Do as I can, not as I say: Grounding language in robotic affor- dances,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.185756Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 5905b377-ef8a-403b-a10b-3ee5f27ede9e · outbound

This paper cites PDDL planning with pretrained large language models,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs PDDL planning with pretrained large language models,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.175119Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation dc9400bd-08b5-469d-91c4-e13e71d094f6 · outbound

This paper cites Large language models still can’t plan (a benchmark for LLMs on planning and reasoning about change),.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Large language models still can’t plan (a benchmark for LLMs on planning and reasoning about change),

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.164675Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 85488974-2793-4453-8ba4-748ced7ce7e7 · outbound

This paper cites Translating Natural Language to Planning Goals with Large-Language Models.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Translating Natural Language to Planning Goals with Large-Language Models

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-07T05:37:20.943860Z

Source-reported events for the cited work

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Observation 22d2cf81-a879-427c-ab61-4b10dbd64b50 · outbound

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

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs LLM+P: Empowering Large Language Models with Optimal Planning Proficiency

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T05:37:20.947431Z

Source-reported events for the cited work

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Observation 406784f2-60be-4c9a-a7f8-9021212b88fe · outbound

This paper cites ORB: An efficient alter- native to SIFT or SURF,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs ORB: An efficient alter- native to SIFT or SURF,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.153531Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation bdafc927-0fbe-44f8-be0a-b4ab35816bba · outbound

This paper cites Bags of binary words for fast place recogni- tion in image sequences,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs Bags of binary words for fast place recogni- tion in image sequences,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.141702Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 15804900-3f71-4cb9-a5ca-9c5407faaf0e · outbound

This paper cites SuperGlue: Learn- ing feature matching with graph neural networks,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs SuperGlue: Learn- ing feature matching with graph neural networks,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.131246Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation ffcf3d88-c3f9-4856-8f80-abc90588335f · outbound

This paper cites X-view: Graph- based semantic multi-view localization,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs X-view: Graph- based semantic multi-view localization,

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.120822Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 8ea1e6ac-8698-44af-8c40-92f9d7efdbb4 · outbound

This paper cites SlideSLAM: Sparse, lightweight, decentralized metric-semantic SLAM for multi-robot navigation,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs SlideSLAM: Sparse, lightweight, decentralized metric-semantic SLAM for multi-robot navigation,

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T05:37:20.965518Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b8680f57-ce20-4a0c-b91d-74a52b004e70 · outbound

This paper cites GOReloc: Graph-based object-level relocal- ization for visual SLAM,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs GOReloc: Graph-based object-level relocal- ization for visual SLAM,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.110406Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation 73d50ce6-c7e3-4db0-9b5f-021758288499 · outbound

This paper cites CLIPPER: Robust data association without an initial guess,.

Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs CLIPPER: Robust data association without an initial guess,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T05:37:21.099818Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Pith citing papers

Observation 7574a889-ebc4-4b62-9796-423ce18d3f59 · inbound

Prompting Robot Teams with Natural Language cites this paper.

Prompting Robot Teams with Natural Language Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-04T13:52:24.838819Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f14c99cb-ed03-4af3-a1ee-7d409cea12c8 · inbound

3D Scene Graphs: Open Challenges and Future Directions cites this paper.

3D Scene Graphs: Open Challenges and Future Directions Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Reference 143

Resolution: metadata mismatch; arxiv_id, observed 2026-07-03T17:18:44.188746Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.

Observation f57bcacd-fb29-4c16-8bd2-3d9796f6faae · inbound

SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation cites this paper.

SAGE-Nav: Leveraging LLM Planning and Alignment Fusion for Hierarchical Scene Graph-Guided Navigation Language-Grounded Hierarchical Planning and Execution with Multi-Robot 3D Scene Graphs

Reference 39

Resolution: verified exact; arxiv_id, observed 2026-07-04T19:20:06.916367Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-07T06:34:17.273281+00:00.