Paper Citation Record · LEDGER

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models

As of 7 August 2026, this Paper Citation Record lists 32 of 32 outbound references and 0 inbound Pith citation observations for arXiv:2605.19580.

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

pith.paper-citation-record.v1
2605.19580 v1

Coverage vector

measured 32 of 32 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-05-20T05:12:26.907425Z

measured 32 of 32 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 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

32 of 32 outbound references displayed

verified exact19
verified fuzzy12
unresolved0
parse uncertain0
malformed identifier0
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 6a15a2e8-280d-4bc7-a3e6-f97f1f1326a1 · outbound

This paper cites Rocoda: Counterfac- tual data augmentation for data-efficient robot learning from demonstrations.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Rocoda: Counterfac- tual data augmentation for data-efficient robot learning from demonstrations

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.883252Z

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 907cf6f6-0940-4151-ae49-76d097e2d087 · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 2

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.451504Z

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 e92e7d3d-767a-4701-a6d9-9462978d55d1 · outbound

This paper cites RT-1: Robotics Transformer for Real-World Control at Scale.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models RT-1: Robotics Transformer for Real-World Control at Scale

Reference 3

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.437165Z

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 4f596632-c7d6-4dd2-98c4-0b4d22bdeedb · outbound

This paper cites RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

Reference 4

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.443203Z

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 859018d6-9768-49d0-87e1-a6ffb7f4b937 · outbound

This paper cites arXiv preprint arXiv:2506.08440 , year=.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models arXiv preprint arXiv:2506.08440 , year=

Reference 5

Resolution: metadata mismatch; arxiv_id, observed 2026-05-20T05:13:03.386327Z

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 37b41cc2-99c5-4199-b11c-164fb1114566 · outbound

This paper cites DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning

Reference 6

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.440173Z

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 955d337f-7140-468f-8b19-d4ea56e6e0a6 · outbound

This paper cites NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks

Reference 7

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.434504Z

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 62a0f0a6-08b6-4aaf-91d4-fa43621fe939 · outbound

This paper cites ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models ${\pi}_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities

Reference 8

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.409152Z

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 461bbf10-66f4-40ff-a32c-14c49f510542 · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models OpenVLA: An Open-Source Vision-Language-Action Model

Reference 9

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.406369Z

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 ae030df2-8cef-4cc7-bde1-839a22b480d3 · outbound

This paper cites Robot learning from demonstration by constructing skill trees.The International Journal of Robotics Research, 31 (3):360–375.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Robot learning from demonstration by constructing skill trees.The International Journal of Robotics Research, 31 (3):360–375

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.877341Z

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 408e7708-862b-4a59-ab0d-83e47431974a · outbound

This paper cites A review of robot learning for manipula- tion: Challenges, representations, and algorithms.Journal of machine learning research, 22 (30):1–82.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models A review of robot learning for manipula- tion: Challenges, representations, and algorithms.Journal of machine learning research, 22 (30):1–82

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.879341Z

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 61e53c96-3266-4ea8-82ce-0d55f903fafc · outbound

This paper cites Metavla: Unified meta co-training for efficient embodied adaption.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Metavla: Unified meta co-training for efficient embodied adaption

Reference 12

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:13:03.426228Z

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 7814cd4d-4eee-4283-9b18-b15fca6cd3f4 · outbound

This paper cites SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models SimpleVLA-RL: Scaling VLA Training via Reinforcement Learning

Reference 13

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.431346Z

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 adfdcaa4-87a0-4b95-b52a-1dde5fb0009f · outbound

This paper cites Libero: Benchmarking knowledge transfer for lifelong robot learning.Advances in Neural Information Processing Systems, 36:44776–44791.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Libero: Benchmarking knowledge transfer for lifelong robot learning.Advances in Neural Information Processing Systems, 36:44776–44791

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.881365Z

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 3c8287f2-a5c7-4c8b-b631-2e551d003948 · outbound

This paper cites RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.445887Z

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 2324a225-7992-43c6-96d5-88b7481d4e89 · outbound

This paper cites Packnet: Adding multiple tasks to a single network by iterative pruning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Packnet: Adding multiple tasks to a single network by iterative pruning

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.875306Z

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 29fac124-cd2c-4a68-a200-e2e851c3de08 · outbound

This paper cites Learning grounded finite-state representations from unstructured demonstrations.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Learning grounded finite-state representations from unstructured demonstrations

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.866691Z

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 03762c01-6c4a-4e85-b4a8-a11caa18b0a7 · outbound

This paper cites Cambridge university press.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Cambridge university press

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.862467Z

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 1821ff51-bf81-4324-be96-f95f508ea2ff · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 19

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.397838Z

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 b45c2dd4-27c0-40f2-9cbb-726268f0df20 · outbound

This paper cites Efficient reductions for imitation learning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Efficient reductions for imitation learning

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.864644Z

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 33f0eb8a-8772-4f88-96ac-573a3386a84f · outbound

This paper cites A reduction of imitation learning and structured prediction to no-regret online learning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models A reduction of imitation learning and structured prediction to no-regret online learning

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.868896Z

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 900f780d-4a21-49f5-8432-afda5674526e · outbound

This paper cites Between mdps and semi-mdps: A framework for temporal abstraction in reinforcement learning.Artificial intelligence, 112(1-2): 181–211.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Between mdps and semi-mdps: A framework for temporal abstraction in reinforcement learning.Artificial intelligence, 112(1-2): 181–211

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.871076Z

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 70116eac-c9ee-420b-875e-89ff832f3f60 · outbound

This paper cites Interactive Post-Training for Vision-Language-Action Models.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Interactive Post-Training for Vision-Language-Action Models

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-05-21T14:25:47.344448Z

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 ff95a705-7dc6-4b6d-99ee-370e761988ed · outbound

This paper cites Skid raw: Skill discovery from raw trajectories.IEEE robotics and automation letters, 6(3):4696–4703.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Skid raw: Skill discovery from raw trajectories.IEEE robotics and automation letters, 6(3):4696–4703

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.873146Z

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 9079f50b-e532-4c19-a081-c8f83e6e792d · outbound

This paper cites Gemini Robotics: Bringing AI into the Physical World.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Gemini Robotics: Bringing AI into the Physical World

Reference 25

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.448843Z

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 6c7b3c5f-cf82-4405-85a5-94b1b6ef4e48 · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Octo: An Open-Source Generalist Robot Policy

Reference 26

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.392044Z

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 b22377b1-d255-4134-af4d-270b1b513dfa · outbound

This paper cites Causal Action Influence Aware Counterfactual Data Augmentation.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Causal Action Influence Aware Counterfactual Data Augmentation

Reference 27

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:13:03.403715Z

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 8cc35b27-8a73-4862-b012-3f6f481c3e8b · outbound

This paper cites Any-point Trajectory Modeling for Policy Learning.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Any-point Trajectory Modeling for Policy Learning

Reference 28

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.389015Z

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 5114bd6a-3171-4846-b807-df20d8a2dfa4 · outbound

This paper cites GRAPE: Generalizing Robot Policy via Preference Alignment.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models GRAPE: Generalizing Robot Policy via Preference Alignment

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:13:03.383440Z

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 8def5375-40d6-4e04-8aa6-0058daab9640 · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-05-20T05:13:03.394872Z

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 a23a9291-63cd-45db-ae69-3f8237568c6d · outbound

This paper cites Lava-man: Learning visual action representations for robot manipulation.

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Lava-man: Learning visual action representations for robot manipulation

Reference 31

Resolution: verified exact; arxiv_id, observed 2026-05-20T05:13:03.380685Z

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 0064377f-d5ad-43fe-9f15-9a4e38b63d3b · outbound

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

PAPO-VLA: Planning-Aware Policy Optimization for Vision-Language-Action Models Rt-2: Vision-language-action models transfer web knowledge to robotic control

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T05:13:03.860381Z

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

No inbound Pith citation observations are available.