Paper Citation Record · LEDGER

Mixture of Horizons in Action Chunking

As of 12 August 2026, this Paper Citation Record lists 52 of 52 outbound references and 32 inbound Pith citation observations for arXiv:2511.19433.

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

pith.paper-citation-record.v1
2511.19433 v2

Coverage vector

measured 52 of 52 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-03T20:32:30.338797Z

measured 84 of 84 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-12T06:34:41.77262+00:00

measured 32 of 32 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-05T18:20:25.061646Z

measured 1 of 1 external citation measurements

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

Source: pith, observed 2026-08-05T02:28:24.338817Z

Reference resolution

52 of 52 outbound references displayed

verified exact0
verified fuzzy0
unresolved52
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

0
pith, observed 2026-08-05T02:28:24.338817Z

Outbound references

Observation e0dcf9a6-28d2-405d-9267-7cfd94b13c06 · outbound

This paper cites GPT-4 Technical Report.

Mixture of Horizons in Action Chunking GPT-4 Technical Report

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.306391Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f83aef30-84cd-4837-99a3-80ced0b460c6 · outbound

This paper cites Qwen2.5-VL Technical Report.

Mixture of Horizons in Action Chunking Qwen2.5-VL Technical Report

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.356424Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8f910c27-d26b-4a66-bc5c-84ca65ef15f5 · outbound

This paper cites PaliGemma: A versatile 3B VLM for transfer.

Mixture of Horizons in Action Chunking PaliGemma: A versatile 3B VLM for transfer

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.453579Z

Source-reported events for the cited work

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Observation d4be69d0-dff7-4b42-8098-0872681cd32c · outbound

This paper cites Roboagent: Generalization and efficiency in robot manipulation via se- mantic augmentations and action chunking, 2023.

Mixture of Horizons in Action Chunking Roboagent: Generalization and efficiency in robot manipulation via se- mantic augmentations and action chunking, 2023

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.532551Z

Source-reported events for the cited work

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Observation f4c64c22-dc5f-4690-bd3a-de8607a848af · outbound

This paper cites GR00T N1: An Open Foundation Model for Generalist Humanoid Robots.

Mixture of Horizons in Action Chunking GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.624340Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7373500c-7519-48a5-aed5-90164726d714 · outbound

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

Mixture of Horizons in Action Chunking $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.692132Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 923b5b7a-e99b-4d4a-9722-b636a35b33fd · outbound

This paper cites Occam’s razor.Information processing letters, 24(6):377–380, 1987.

Mixture of Horizons in Action Chunking Occam’s razor.Information processing letters, 24(6):377–380, 1987

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.754673Z

Source-reported events for the cited work

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Observation 3caa5ebd-2877-451e-b0f9-e24a8101c21a · outbound

This paper cites AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems.

Mixture of Horizons in Action Chunking AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.823841Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3a35705d-26ef-4a29-b9a4-cfd79592255c · outbound

This paper cites UniVLA: Learning to Act Anywhere with Task-centric Latent Actions.

Mixture of Horizons in Action Chunking UniVLA: Learning to Act Anywhere with Task-centric Latent Actions

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.898922Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7d0acd44-973c-436a-8145-eba3851f04b2 · outbound

This paper cites WorldVLA: Towards Autoregressive Action World Model.

Mixture of Horizons in Action Chunking WorldVLA: Towards Autoregressive Action World Model

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:25.963233Z

Source-reported events for the cited work

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Observation c86dcdde-d573-498e-8df9-94d69147a04a · outbound

This paper cites GR-3 Technical Report.

Mixture of Horizons in Action Chunking GR-3 Technical Report

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.053455Z

Source-reported events for the cited work

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Observation d5f05ba3-2f92-45ca-b20e-b2dd8eb83dcd · outbound

This paper cites Robotwin 2.0: A scalable data generator and benchmark with strong domain randomization for robust bimanual robotic manipulation, 2025.

Mixture of Horizons in Action Chunking Robotwin 2.0: A scalable data generator and benchmark with strong domain randomization for robust bimanual robotic manipulation, 2025

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.117647Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation eedca211-437c-4ee1-91a0-69840097fe10 · outbound

This paper cites Moto: Latent motion token as the bridging language for robot manipulation.arXiv preprint arXiv:2412.04445, 2024.

Mixture of Horizons in Action Chunking Moto: Latent motion token as the bridging language for robot manipulation.arXiv preprint arXiv:2412.04445, 2024

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.170721Z

Source-reported events for the cited work

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Observation f8822bbc-745e-4a14-a4ef-70d65d671167 · outbound

This paper cites Diffusion Policy: Visuomotor Policy Learning via Action Diffusion.

Mixture of Horizons in Action Chunking Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.261658Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 81093c64-9e59-4af4-a751-c34f678f5b94 · outbound

This paper cites InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy.

Mixture of Horizons in Action Chunking InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.321590Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 69574d5e-ea1a-4caa-a6d0-6b36440be8f8 · outbound

This paper cites OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation.

Mixture of Horizons in Action Chunking OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.436437Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0506a26e-cfe9-42ac-afa4-368caf8fa3d4 · outbound

This paper cites Graspvla: a grasping foundation model pre-trained on billion- scale synthetic action data.

Mixture of Horizons in Action Chunking Graspvla: a grasping foundation model pre-trained on billion- scale synthetic action data

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.524477Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation af1ed290-a787-42de-9ade-fa8ee1fb30af · outbound

This paper cites Interleave-vla: En- hancing robot manipulation with interleaved image-text in- structions.arXiv preprint arXiv:2505.02152, 2025.

Mixture of Horizons in Action Chunking Interleave-vla: En- hancing robot manipulation with interleaved image-text in- structions.arXiv preprint arXiv:2505.02152, 2025

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.611283Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d421a931-9a70-410d-ac47-ff031edfeb44 · outbound

This paper cites Switch transformers: Scaling to trillion parameter models with simple and efficient sparsity, 2022.

Mixture of Horizons in Action Chunking Switch transformers: Scaling to trillion parameter models with simple and efficient sparsity, 2022

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.724510Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c19d9121-4ffe-4a89-83d4-3ddb452ead54 · outbound

This paper cites VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models.

Mixture of Horizons in Action Chunking VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.811080Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bacc246f-62b3-45c2-9594-64e80dd39a94 · outbound

This paper cites A survey on vision-language- action models for autonomous driving, 2025.

Mixture of Horizons in Action Chunking A survey on vision-language- action models for autonomous driving, 2025

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:26.988241Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 66cd26f2-c66c-439e-8b56-2627734ad89b · outbound

This paper cites Fineclip: Self-distilled region- based clip for better fine-grained understanding.Advances in Neural Information Processing Systems, 37:27896–27918,.

Mixture of Horizons in Action Chunking Fineclip: Self-distilled region- based clip for better fine-grained understanding.Advances in Neural Information Processing Systems, 37:27896–27918,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.136968Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 72d6e80d-0083-4321-a18c-5f147aeb3277 · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

Mixture of Horizons in Action Chunking OpenVLA: An Open-Source Vision-Language-Action Model

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.255963Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a6b8c7d5-26fb-46f2-9268-db864e9ec7fd · outbound

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

Mixture of Horizons in Action Chunking Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.355162Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 08accf09-5419-47cf-927f-e837d644e628 · outbound

This paper cites Spatial forcing: Implicit spatial representation alignment for vision- language-action model.arXiv preprint arXiv:2510.12276,.

Mixture of Horizons in Action Chunking Spatial forcing: Implicit spatial representation alignment for vision- language-action model.arXiv preprint arXiv:2510.12276,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.473078Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0d09a04f-9252-4e29-b2c9-4f203e45552c · outbound

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

Mixture of Horizons in Action Chunking CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.625412Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1780c7b3-7529-49fa-8a34-be9b91ec5722 · outbound

This paper cites Evo-0: Vision-language- action model with implicit spatial understanding.arXiv preprint arXiv:2507.00416, 2025.

Mixture of Horizons in Action Chunking Evo-0: Vision-language- action model with implicit spatial understanding.arXiv preprint arXiv:2507.00416, 2025

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.804252Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0dba2a39-9d52-4af5-b759-a9b893fbd835 · outbound

This paper cites Flow Matching for Generative Modeling.

Mixture of Horizons in Action Chunking Flow Matching for Generative Modeling

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:27.979478Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3b97df11-3ffc-410a-a072-d9525c29d3ab · outbound

This paper cites LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning.

Mixture of Horizons in Action Chunking LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.154512Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 34ace99f-ad8a-403c-b237-a5ac39f53367 · outbound

This paper cites Dpm-solver: A fast ode solver for diffusion probabilistic model sampling in around 10 steps.Advances in neural information processing systems, 35:5775–5787, 2022.

Mixture of Horizons in Action Chunking Dpm-solver: A fast ode solver for diffusion probabilistic model sampling in around 10 steps.Advances in neural information processing systems, 35:5775–5787, 2022

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.295507Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d9aa5be5-22ee-404d-901b-a1b654f186a8 · outbound

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

Mixture of Horizons in Action Chunking Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.408385Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 28178c42-aeb1-40bc-8033-01a9d1997d73 · outbound

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

Mixture of Horizons in Action Chunking FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.585704Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2763321e-3fe3-44e3-afda-1f70af923ffa · outbound

This paper cites SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model.

Mixture of Horizons in Action Chunking SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.705217Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 850b66c0-1b46-4545-8a7b-9c5535e78543 · outbound

This paper cites Sparsely-gated mixture-of-experts pytorch imple- mentation, 2019.

Mixture of Horizons in Action Chunking Sparsely-gated mixture-of-experts pytorch imple- mentation, 2019

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.825619Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a8f7678e-4112-411e-83ce-3985fcda86e9 · outbound

This paper cites Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models.

Mixture of Horizons in Action Chunking Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:28.968924Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8274fb4d-d592-4fc5-8918-0c7741029d93 · outbound

This paper cites SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics.

Mixture of Horizons in Action Chunking SmolVLA: A Vision-Language-Action Model for Affordable and Efficient Robotics

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.092769Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 97ee8c20-695a-4f66-bf59-d38a765773a6 · outbound

This paper cites Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation.

Mixture of Horizons in Action Chunking Incentivizing Multimodal Reasoning in Large Models for Direct Robot Manipulation

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.151581Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d92f0542-4c00-4c58-84ff-2efd77185db9 · outbound

This paper cites Octo: An Open-Source Generalist Robot Policy.

Mixture of Horizons in Action Chunking Octo: An Open-Source Generalist Robot Policy

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.209007Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 734dbf3a-8ae7-435b-ac2c-5b47827b7554 · outbound

This paper cites Vla-adapter: An effective paradigm for tiny-scale vision-language-action model.arXiv preprint arXiv:2509.09372, 2025.

Mixture of Horizons in Action Chunking Vla-adapter: An effective paradigm for tiny-scale vision-language-action model.arXiv preprint arXiv:2509.09372, 2025

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.278954Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 83fcaaeb-26c8-4395-90d0-f07501b58f5c · outbound

This paper cites Unified Vision-Language-Action Model.

Mixture of Horizons in Action Chunking Unified Vision-Language-Action Model

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.361062Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e1529c92-b2b4-4caa-9083-32b2e7da06ed · outbound

This paper cites Qwen2.5 Technical Report.

Mixture of Horizons in Action Chunking Qwen2.5 Technical Report

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.443468Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b6f34564-4811-49cf-a1df-7e23b9821719 · outbound

This paper cites Igniting vlms toward the embodied space.arXiv preprint arXiv:2509.11766, 2025.

Mixture of Horizons in Action Chunking Igniting vlms toward the embodied space.arXiv preprint arXiv:2509.11766, 2025

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.526936Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 07c5f748-54cb-4242-9f79-cde0fa0fa7a2 · outbound

This paper cites DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge.

Mixture of Horizons in Action Chunking DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge

Reference 43

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.602732Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b4e58a7e-7a3b-4905-8044-43921321b03c · outbound

This paper cites From spatial to actions: Grounding vision-language-action model in spatial foundation priors.

Mixture of Horizons in Action Chunking From spatial to actions: Grounding vision-language-action model in spatial foundation priors

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.621993Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f4bbcf10-18e9-4cbd-b72f-e00b339da362 · outbound

This paper cites Cot-vla: Visual chain-of-thought reason- ing for vision-language-action models.

Mixture of Horizons in Action Chunking Cot-vla: Visual chain-of-thought reason- ing for vision-language-action models

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.712035Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 236ca3d1-3dc9-4684-99a3-70dc4203430d · outbound

This paper cites Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn.

Mixture of Horizons in Action Chunking Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.807744Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ada945c4-4e53-4e5e-ae06-6e9e41196e23 · outbound

This paper cites Universal actions for enhanced embodied foundation models.

Mixture of Horizons in Action Chunking Universal actions for enhanced embodied foundation models

Reference 47

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.893759Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ed3e7f70-73da-44de-a962-393be8340695 · outbound

This paper cites X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model.

Mixture of Horizons in Action Chunking X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:29.945264Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 40a23ac0-21c5-4063-9f29-5d5123cac0fd · outbound

This paper cites TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies.

Mixture of Horizons in Action Chunking TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies

Reference 49

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:30.041174Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c2b85ea4-3e80-462f-86dd-ba17da70ca28 · outbound

This paper cites Flowvla: Visual chain of thought-based motion reasoning for vision-language- action models.arXiv preprint arXiv:2508.18269, 2025.

Mixture of Horizons in Action Chunking Flowvla: Visual chain of thought-based motion reasoning for vision-language- action models.arXiv preprint arXiv:2508.18269, 2025

Reference 50

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:30.157531Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8c89c302-f2c6-466c-8d1a-39f81b00270b · outbound

This paper cites MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models.

Mixture of Horizons in Action Chunking MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models

Reference 51

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:30.269520Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8b6268e2-2457-4ba0-858f-e4f069a439d6 · outbound

This paper cites InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models.

Mixture of Horizons in Action Chunking InternVL3: Exploring Advanced Training and Test-Time Recipes for Open-Source Multimodal Models

Reference 52

Resolution: unresolved; no resolver link, observed 2026-08-03T20:32:30.338797Z

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Pith citing papers

Observation 70f6b4a4-e5de-4216-a7ae-e5b9fee4f99e · inbound

Causal World Modeling for Robot Control cites this paper.

Causal World Modeling for Robot Control Mixture of Horizons in Action Chunking

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 47bc42b1-ab28-4d87-aae7-363a56d7fc38 · inbound

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs cites this paper.

When Vision Overrides Language: Evaluating and Mitigating Counterfactual Failures in VLAs Mixture of Horizons in Action Chunking

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-02T22:14:27.081047Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 42786a40-7f6d-4fd3-ba9b-14dbe0f2b5fa · inbound

Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA cites this paper.

Open-Loop Planning, Closed-Loop Verification: Speculative Verification for VLA Mixture of Horizons in Action Chunking

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation e29367c7-e018-475d-a196-8c0844a8bc41 · inbound

AsyncShield: A Plug-and-Play Edge Adapter for Asynchronous Cloud-based VLA Navigation cites this paper.

AsyncShield: A Plug-and-Play Edge Adapter for Asynchronous Cloud-based VLA Navigation Mixture of Horizons in Action Chunking

Reference 34

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 72c512da-5bf1-4eb3-b1b4-694074150566 · inbound

When to Trust Imagination: Adaptive Action Execution for World Action Models cites this paper.

When to Trust Imagination: Adaptive Action Execution for World Action Models Mixture of Horizons in Action Chunking

Reference 8

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 74eecce0-2477-404a-bc89-c27e79cae8e4 · inbound

When to Trust Imagination: Adaptive Action Execution for World Action Models cites this paper.

When to Trust Imagination: Adaptive Action Execution for World Action Models Mixture of Horizons in Action Chunking

Reference 9

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation a142c9be-0a8d-402d-836e-96d729e1c3ce · inbound

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning cites this paper.

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning Mixture of Horizons in Action Chunking

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 618cfa10-119b-4081-8e73-d163514eee60 · inbound

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning cites this paper.

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning Mixture of Horizons in Action Chunking

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 5e8f7c38-10ae-467f-a17a-73a33b19b1b0 · inbound

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning cites this paper.

When to Re-Commit: Temporal Abstraction Discovery for Long-Horizon Vision-Language Reasoning Mixture of Horizons in Action Chunking

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation d27c06f4-9fbf-4162-a0ce-3cb00f9bbddf · inbound

Dynamic Execution Commitment of Vision-Language-Action Models cites this paper.

Dynamic Execution Commitment of Vision-Language-Action Models Mixture of Horizons in Action Chunking

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 75ac505f-d2da-47a2-8c7d-3b5ad49f83b5 · inbound

Dynamic Execution Commitment of Vision-Language-Action Models cites this paper.

Dynamic Execution Commitment of Vision-Language-Action Models Mixture of Horizons in Action Chunking

Reference 10

Resolution: verified exact; arxiv_id, observed 2026-06-01T03:02:54.298289Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation e6b8c1e6-22c3-41fd-b91d-40043bc5d6a2 · inbound

Dynamic Execution Commitment of Vision-Language-Action Models cites this paper.

Dynamic Execution Commitment of Vision-Language-Action Models Mixture of Horizons in Action Chunking

Reference 10

Resolution: verified exact; local_arxiv, observed 2026-07-01T13:45:46.183458Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 209fea6c-e3ed-4bda-a7b3-1b0b3ebc8f33 · inbound

Dynamic Execution Commitment of Vision-Language-Action Models cites this paper.

Dynamic Execution Commitment of Vision-Language-Action Models Mixture of Horizons in Action Chunking

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-03T02:22:08.031430Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7de8a30b-9158-4431-8315-40e299bc698a · inbound

PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking cites this paper.

PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking Mixture of Horizons in Action Chunking

Reference 11

Resolution: metadata mismatch; local_arxiv, observed 2026-06-28T19:02:33.619944Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 6f7f187f-d027-44b5-85aa-ff900e14a85f · inbound

PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking cites this paper.

PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking Mixture of Horizons in Action Chunking

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-02T12:45:03.984131Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 51b5f6f4-cf22-4efa-bdbe-66955353ecea · inbound

Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies cites this paper.

Denoising Tells When to Replan: Denoising-Variance Adaptive Chunking for Flow-Based Robot Policies Mixture of Horizons in Action Chunking

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-07-02T04:06:35.292990Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 62fd48a9-3155-4272-a599-36d9661bbec3 · inbound

What Are We Actually Benchmarking in Robot Manipulation? cites this paper.

What Are We Actually Benchmarking in Robot Manipulation? Mixture of Horizons in Action Chunking

Reference 58

Resolution: verified exact; local_arxiv, observed 2026-07-02T03:56:35.317982Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation ec417aa2-467b-4fbb-882d-00d9c51a5815 · inbound

TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies cites this paper.

TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies Mixture of Horizons in Action Chunking

Reference 36

Resolution: verified exact; local_arxiv, observed 2026-07-02T13:36:58.784991Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 2209a340-2331-4e7f-95b7-97196d80c9a0 · inbound

TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies cites this paper.

TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies Mixture of Horizons in Action Chunking

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-02T12:17:09.389487Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 13ad0ab2-d5fd-45c0-bcff-9711aff8a08d · inbound

Dynamic Execution Horizon Prediction for Chunk-based Robot Policies cites this paper.

Dynamic Execution Horizon Prediction for Chunk-based Robot Policies Mixture of Horizons in Action Chunking

Reference 9

Resolution: verified exact; local_arxiv, observed 2026-07-03T06:17:41.623321Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 1f423306-2d40-48ad-8ed3-e768ba8a9369 · inbound

Learning to Assist: Collaborative VLAs for Implicit Human-Robot Collaboration cites this paper.

Learning to Assist: Collaborative VLAs for Implicit Human-Robot Collaboration Mixture of Horizons in Action Chunking

Reference 24

Resolution: verified exact; local_arxiv, observed 2026-07-03T10:37:56.637819Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 7d0c40d9-41e3-4b0f-8517-8f8651928be3 · inbound

$\mu$VLA: On Recurrent Memory for Partially Observable Manipulation in VLA Models cites this paper.

$\mu$VLA: On Recurrent Memory for Partially Observable Manipulation in VLA Models Mixture of Horizons in Action Chunking

Reference 26

Resolution: verified exact; local_arxiv, observed 2026-07-03T08:17:45.679705Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 3c2b3e55-1fe2-46b4-a986-ca367cba2432 · inbound

PolicyTrim: Boosting Intrinsic Policy Efficiency of Vision-Language-Action Models cites this paper.

PolicyTrim: Boosting Intrinsic Policy Efficiency of Vision-Language-Action Models Mixture of Horizons in Action Chunking

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-07-04T09:09:43.332561Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation e9896e6b-35d2-4d31-80eb-c60de19b3c0f · inbound

Learning Action Priors for Cross-embodiment Robot Manipulation cites this paper.

Learning Action Priors for Cross-embodiment Robot Manipulation Mixture of Horizons in Action Chunking

Reference 72

Resolution: verified exact; local_arxiv, observed 2026-07-04T21:00:09.747689Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation b52097c7-4d3a-4b1d-b24d-4fe37354469a · inbound

AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation cites this paper.

AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation Mixture of Horizons in Action Chunking

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-07-02T11:16:52.769950Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation d324f970-54d4-4716-aeb3-4ea045f4bcb7 · inbound

AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation cites this paper.

AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation Mixture of Horizons in Action Chunking

Reference 16

Resolution: unresolved; no resolver link, observed 2026-07-12T09:02:24.063466Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e658945d-9eb6-457e-a7cf-5441fcc307ca · inbound

VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon cites this paper.

VLA-Corrector: Lightweight Detect-and-Correct Inference for Adaptive Action Horizon Mixture of Horizons in Action Chunking

Reference 11

Resolution: metadata mismatch; local_arxiv, observed 2026-07-03T12:28:07.295821Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation 5d60841e-b78a-41cc-a5c7-61dbd2de5257 · inbound

Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity cites this paper.

Spatial Attention: Adapting Execution Horizons for Diffusion Policies via Observation Sensitivity Mixture of Horizons in Action Chunking

Reference 21

Resolution: unresolved; no resolver link, observed 2026-07-11T14:18:36.792125Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 492057ae-c1f6-4b4d-a1c9-d698561f918c · inbound

DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation cites this paper.

DexVerse: A Modular Benchmark for Multi-Task, Multi-Embodiment Dexterous Manipulation Mixture of Horizons in Action Chunking

Reference 7

Resolution: verified exact; local_arxiv, observed 2026-07-10T02:06:42.081924Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-12T06:34:41.77262+00:00.

Observation f385ec68-688c-4fb3-a2c8-2e0588e0400c · inbound

CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation cites this paper.

CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation Mixture of Horizons in Action Chunking

Reference 18

Resolution: unresolved; no resolver link, observed 2026-07-30T21:05:52.637963Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fcf19fdb-df95-411c-a956-6fe81fcd50fb · inbound

Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control? cites this paper.

Why Does Action Chunking Improve Behavioral Cloning Performance in Robotic Control? Mixture of Horizons in Action Chunking

Reference 47

Resolution: unresolved; no resolver link, observed 2026-08-04T05:05:10.436843Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e93ef478-bd15-4be4-9861-96bf0c21e49e · inbound

Continue or Replan? Bernoulli-Continuation Policy Learning for Adaptive Horizon Execution cites this paper.

Continue or Replan? Bernoulli-Continuation Policy Learning for Adaptive Horizon Execution Mixture of Horizons in Action Chunking

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-05T18:20:25.061646Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.