Paper Citation Record · LEDGER

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction

As of 8 August 2026, this Paper Citation Record lists 27 of 27 outbound references and 2 inbound Pith citation observations for arXiv:2506.20566.

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

pith.paper-citation-record.v1
2506.20566 v1

Coverage vector

measured 27 of 27 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-06T22:49:10.881232Z

measured 29 of 29 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 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-02T08:43:33.391528Z

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

27 of 27 outbound references displayed

verified exact0
verified fuzzy18
unresolved8
parse uncertain0
malformed identifier0
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 1a90adff-d994-4835-914a-c1ef00a2389d · outbound

This paper cites Evaluating Vision-Language Models as Evaluators in Path Planning.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Evaluating Vision-Language Models as Evaluators in Path Planning

Reference 1

Resolution: metadata mismatch; local_arxiv, observed 2026-08-06T22:49:11.200446Z

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 962eeeb6-509b-491b-a217-70702f5a12f5 · outbound

This paper cites In: Proceedings of the 19th ACM International Conference on Mul- timodal Interaction, pp.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Proceedings of the 19th ACM International Conference on Mul- timodal Interaction, pp

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:17.057335Z

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 71e0cde9-4a6e-48b7-bf08-c46222e1b4e5 · outbound

This paper cites Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:07.721472Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6138fe75-e541-450c-a7b0-2affee204481 · outbound

This paper cites In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, pp

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:16.795102Z

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 a50c31f4-58d4-4301-bb48-80366c6c1157 · outbound

This paper cites In: International Conference on Learning Representations (ICLR) (2025).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: International Conference on Learning Representations (ICLR) (2025)

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:16.485703Z

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 500ca7e8-8220-4aff-b648-776631922f9f · outbound

This paper cites In: 2008 8th Ieee International Conference on Automatic Face & Gesture Recognition, pp.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: 2008 8th Ieee International Conference on Automatic Face & Gesture Recognition, pp

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:16.193859Z

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 43fee879-e3ea-4fe5-9578-b03d930b3efa · outbound

This paper cites Gemini: A Family of Highly Capable Multimodal Models.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Gemini: A Family of Highly Capable Multimodal Models

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:08.200579Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 04f16770-e207-4dac-b03e-0b76b6c81956 · outbound

This paper cites The Llama 3 Herd of Models.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction The Llama 3 Herd of Models

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:08.371492Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7cfc5b71-6772-4b10-abd6-4f8f340cb62e · outbound

This paper cites In: Neural Information Processing Systems (NeurIPS) (2018).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Neural Information Processing Systems (NeurIPS) (2018)

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:15.866164Z

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 84759529-e6ae-4686-a506-72c9db046e09 · outbound

This paper cites Benchmarking Vision, Language, & Action Models on Robotic Learning Tasks.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Benchmarking Vision, Language, & Action Models on Robotic Learning Tasks

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:08.555776Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation eaf7af65-57fd-49c9-b145-d09867dd3e2f · outbound

This paper cites Human factors53(5), 517–527 (2011).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Human factors53(5), 517–527 (2011)

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:15.496895Z

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 59c4f372-2edd-4317-aaea-6ba8c91afd8c · outbound

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

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:08.758255Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3440f35e-8fb1-4ba9-9e23-b74c19f90f4d · outbound

This paper cites In: Conference on Robot Learning (2023).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Conference on Robot Learning (2023)

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:15.105483Z

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 85b25a58-aa63-465c-9dac-fc4084039e6b · outbound

This paper cites Discourse Processes52(4), 255–289 (2015).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Discourse Processes52(4), 255–289 (2015)

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:14.752505Z

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 2a620a9f-dda5-4e84-9be3-0afa2b7e443a · outbound

This paper cites A Survey of State of the Art Large Vision Language Models: Alignment, Benchmark, Evaluations and Challenges.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction A Survey of State of the Art Large Vision Language Models: Alignment, Benchmark, Evaluations and Challenges

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:09.088375Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f7deb7e5-620d-4d07-afaa-baa9253c1041 · outbound

This paper cites In: Robotics: Science and Systems (RSS) (2024).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Robotics: Science and Systems (RSS) (2024)

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:14.371159Z

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 771afcae-c807-47e1-bc8d-dfd15e5b7eca · outbound

This paper cites ACM Transactions on Human-Robot Interaction12(3), 1–39 (2023).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction ACM Transactions on Human-Robot Interaction12(3), 1–39 (2023)

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:14.066289Z

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 f17af41b-8e60-4a27-bc26-6d2157040c84 · outbound

This paper cites https://robotsguide.com/robots/kuri (n.d.).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction https://robotsguide.com/robots/kuri (n.d.)

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:13.769324Z

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 c8b0254b-7d9e-4bb3-8206-9beb73ad23f3 · outbound

This paper cites In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:13.346604Z

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 7fc6ee28-5da2-48ca-b3e4-943eb4eaed6d · outbound

This paper cites Image and Vision Computing25(12), 1875–1884 (2007).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Image and Vision Computing25(12), 1875–1884 (2007)

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:12.972703Z

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 da941580-0f76-4fb9-a786-311d074a0bac · outbound

This paper cites GPT-4o System Card.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction GPT-4o System Card

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:10.058113Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e9872746-cccb-424c-8a30-bae22d03fa1b · outbound

This paper cites ACM Transactions on Human-Robot Interaction12(1), 1–66 (2023).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction ACM Transactions on Human-Robot Interaction12(1), 1–66 (2023)

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:12.673737Z

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 ac043cf2-4523-4df1-a8a3-7a424b53de3f · outbound

This paper cites IEEE Transactions on Robotics38(3), 1755–1772 (2021).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction IEEE Transactions on Robotics38(3), 1755–1772 (2021)

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:12.374698Z

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 d24db9c4-7666-4fdf-9c03-eba2412b1b6d · outbound

This paper cites ACM Transactions on Human-Robot Interaction 12(2), 1–21 (2023).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction ACM Transactions on Human-Robot Interaction 12(2), 1–21 (2023)

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:12.095926Z

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 e218a7f9-66ac-44ac-9c42-c00fa81747a2 · outbound

This paper cites Advances in Neural Information Processing Systems35, 12,014–12,026 (2022) 10 Zhonghao Shi et al.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction Advances in Neural Information Processing Systems35, 12,014–12,026 (2022) 10 Zhonghao Shi et al

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:11.776077Z

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 f2ad57d4-4681-4293-8b70-f9451405badc · outbound

This paper cites ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation.

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulation

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-06T22:49:10.769599Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d6210fe0-1cc8-4a6a-9776-53739c97e593 · outbound

This paper cites In: Artificial In- telligence and Machine Learning in Defense Applications II (2020).

HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction In: Artificial In- telligence and Machine Learning in Defense Applications II (2020)

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-06T22:49:11.460335Z

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.

Pith citing papers

Observation e94ac13b-5b75-40fb-92fe-c1c5ee6012dc · inbound

ERR@HRI 3.0 Challenge: Multimodal Detection of Errors and Anticipation in Human-Robot Interactions cites this paper.

ERR@HRI 3.0 Challenge: Multimodal Detection of Errors and Anticipation in Human-Robot Interactions HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-14T04:42:38.419346Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f3cf56be-7b34-4131-812e-7362bbde9172 · inbound

HRIBench: Benchmarking Interaction-Centric Human-Robot Collaboration cites this paper.

HRIBench: Benchmarking Interaction-Centric Human-Robot Collaboration HRIBench: Benchmarking Vision-Language Models for Real-Time Human Perception in Human-Robot Interaction

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-02T08:43:33.391528Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.