Paper Citation Record · LEDGER

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

As of 5 August 2026, this Paper Citation Record lists 34 of 34 outbound references and 7 inbound Pith citation observations for arXiv:2509.15061.

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

pith.paper-citation-record.v1
2509.15061 v3

Coverage vector

measured 34 of 34 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-04T16:17:26.054444Z

measured 41 of 41 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-05T06:32:48.257954+00:00

measured 7 of 7 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-28T22:39:15.211339Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-07-02T13:26:58.923873Z

Reference resolution

34 of 34 outbound references displayed

verified exact0
verified fuzzy0
unresolved34
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation b84b1851-2495-4fdc-bb15-096e75be0b6a · outbound

This paper cites Computing machinery and intelligence,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Computing machinery and intelligence,

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.949778Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0099fe16-72dd-47e4-b142-ac83a49e25e2 · outbound

This paper cites Artificial intelligence for long-term robot autonomy: A sur- vey,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Artificial intelligence for long-term robot autonomy: A sur- vey,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.953796Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3a19d9d1-a47b-4b69-911b-2cd00556df08 · outbound

This paper cites A survey of embodied ai: From simulators to research tasks,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue A survey of embodied ai: From simulators to research tasks,

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.957217Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0ee5f43f-c102-47c6-af10-d5a2d5a5f67a · outbound

This paper cites Autonomous agents as embodied ai,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Autonomous agents as embodied ai,

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.960815Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 058e4661-22fb-4b01-9c30-da6c653621a8 · outbound

This paper cites Dialfred: Dialogue-enabled agents for embodied instruction following,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Dialfred: Dialogue-enabled agents for embodied instruction following,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.963871Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9aaded77-abb8-40a0-ad4b-c43a3e8331ed · outbound

This paper cites Teach: Task-driven embodied agents that chat,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Teach: Task-driven embodied agents that chat,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.967025Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1f0807b0-43f7-410e-b1db-2e77b07f9eac · outbound

This paper cites Grounding multimodal llms to embodied agents that ask for help with reinforcement learning,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Grounding multimodal llms to embodied agents that ask for help with reinforcement learning,

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.970064Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dcf27dbb-763d-4fc4-99d6-8988c21531b6 · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.973193Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 90e33f91-4bd9-483b-87a4-aa566715af39 · outbound

This paper cites FAST: Efficient Action Tokenization for Vision-Language-Action Models.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.976904Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7aed8850-7e70-48a7-b505-55c26c36a5b6 · outbound

This paper cites Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.979843Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 51eb7b32-0154-4748-8e0b-50e5a879435b · outbound

This paper cites Octo: An open-source generalist robot policy,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Octo: An open-source generalist robot policy,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.982949Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 55dab2e1-8209-4049-b286-471901583ab1 · outbound

This paper cites Openvla: An open-source vision-language-action model,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Openvla: An open-source vision-language-action model,

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.985729Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8aa62538-c2c7-466a-bfc1-e881bf69e96a · outbound

This paper cites Rt-2: Vision- language-action models transfer web knowledge to robotic control,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Rt-2: Vision- language-action models transfer web knowledge to robotic control,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.988385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 650aa07b-d05e-43d3-b455-b141774665e1 · outbound

This paper cites Open x-embodiment: Robotic learning datasets and rt-x mod- els: Open x-embodiment collaboration 0,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Open x-embodiment: Robotic learning datasets and rt-x mod- els: Open x-embodiment collaboration 0,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.991114Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 279dc0ba-c25c-47be-9435-1f5c0f46b60f · outbound

This paper cites Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Knowledge Insulating Vision-Language-Action Models: Train Fast, Run Fast, Generalize Better

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.993819Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 317d6c8c-a1f1-45cc-8389-fde0af5ed0f4 · outbound

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

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:25.996881Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 93a7a8c4-2f48-4749-8ce0-ac7eb01b1dcd · outbound

This paper cites DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.000162Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 80494ba4-6565-40e0-a562-7a1910025732 · outbound

This paper cites CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.003505Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 254ed329-28f6-4c21-b7a5-8bea6d60c05f · outbound

This paper cites Scalable diffusion models with transformers,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Scalable diffusion models with transformers,

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.006639Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ae435393-ddaa-4990-a5d7-aa609b935ee6 · outbound

This paper cites GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Data

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.009661Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3d68ffdc-a951-4c0f-bf19-831c59d0ef87 · outbound

This paper cites Ask4help: Learning to leverage an expert for embodied tasks,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Ask4help: Learning to leverage an expert for embodied tasks,

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.013035Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bb83ed1c-e11c-4df6-99d3-e4ebebd13499 · outbound

This paper cites Interactive planning using large language models for partially observable robotic tasks,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Interactive planning using large language models for partially observable robotic tasks,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.015934Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 91ca754f-df7e-46b4-840e-56c395021ff2 · outbound

This paper cites Human2robot: Learning robot actions from paired human-robot videos,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Human2robot: Learning robot actions from paired human-robot videos,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.019089Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cbae75cc-c0ac-452d-a2ce-849078d1bcf0 · outbound

This paper cites Asking Before Acting: Gather Information in Embodied Decision Making with Language Models.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Asking Before Acting: Gather Information in Embodied Decision Making with Language Models

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.022065Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3f4ab3e9-f50e-43d7-a6d6-734c9b0daa9a · outbound

This paper cites Interactive Robot Learning from Verbal Correction.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Interactive Robot Learning from Verbal Correction

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.025627Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 61ac8913-312d-43e1-ad34-86292fff7cb6 · outbound

This paper cites Robots that ask for help: Uncertainty alignment for large language model planners,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Robots that ask for help: Uncertainty alignment for large language model planners,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.029157Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation befbf5f7-e24a-44cc-9b18-41183306cd8b · outbound

This paper cites Diffusion policy: Visuomotor policy learning via action diffusion,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Diffusion policy: Visuomotor policy learning via action diffusion,

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.032090Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5033b54-dea4-4979-aac1-c42a4a113f71 · outbound

This paper cites Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.035567Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2a4f2fa6-002e-4a45-b4bd-32d8c217e312 · outbound

This paper cites Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.038823Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a396e26f-2129-47ca-856f-b95e591e5ccf · outbound

This paper cites Film: Visual reasoning with a general condi- tioning layer,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Film: Visual reasoning with a general condi- tioning layer,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.042069Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 01420dde-6d5b-45c7-9b8c-3772dd43505d · outbound

This paper cites an unresolved cited work.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Unresolved cited work

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.045167Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2a81ed7e-4434-4b26-9c17-7e2fcac71adf · outbound

This paper cites xarm python sdk,.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue xarm python sdk,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.048000Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 590c2f16-63d2-414e-9243-15192b78afb5 · outbound

This paper cites Qwen3 Technical Report.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Qwen3 Technical Report

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.051211Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 27bd111a-a1ad-4a4b-a12a-b1b71767dab5 · outbound

This paper cites OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation.

Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-04T16:17:26.054444Z

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Unavailable: canonical work link unavailable.

Pith citing papers

Observation 94877d78-3c1c-4841-b06e-00e965f4f464 · inbound

A Multimodal Data Collection Framework for Dialogue-Driven Assistive Robotics to Clarify Ambiguities: A Wizard-of-Oz Pilot Study cites this paper.

A Multimodal Data Collection Framework for Dialogue-Driven Assistive Robotics to Clarify Ambiguities: A Wizard-of-Oz Pilot Study Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 13

Resolution: metadata mismatch; arxiv_id, observed 2026-06-05T02:16:19.597095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation b53e80d9-ca96-4be4-99c7-0cdb57287f41 · inbound

Seeing Isn't Believing: Mitigating Belief Inertia via Active Intervention in Embodied Agents cites this paper.

Seeing Isn't Believing: Mitigating Belief Inertia via Active Intervention in Embodied Agents Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 2

Resolution: metadata mismatch; arxiv_id, observed 2026-06-05T02:16:19.597095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation acae5eae-3d74-4dd8-9ded-70ac6ebc647c · inbound

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries cites this paper.

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-06-05T02:16:19.597095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation b21d970b-3837-45aa-891a-ed973cbb5f0b · inbound

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries cites this paper.

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-06-05T02:16:19.597095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation 27703564-48cf-45d5-b6e3-53fcd0b7c6a3 · inbound

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries cites this paper.

ProCompNav: Proactive Instance Navigation with Comparative Judgment for Ambiguous User Queries Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-06-05T02:16:19.597095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation fa950bc0-4116-4726-86b4-d535a2f97adb · inbound

Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring cites this paper.

Hide-and-Seek in Trajectories: Discovering Failure Signals for VLA Runtime Monitoring Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 95

Resolution: verified exact; local_arxiv, observed 2026-06-28T22:42:46.559866Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.

Observation 1c263f66-795b-4edb-8c38-099f18786185 · inbound

ActiveMimic: Egocentric Video Pretraining with Active Perception cites this paper.

ActiveMimic: Egocentric Video Pretraining with Active Perception Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue

Reference 57

Resolution: verified exact; local_arxiv, observed 2026-07-02T13:26:58.925120Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-05T06:32:48.257954+00:00.