Paper Citation Record · LEDGER

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data

As of 5 August 2026, this Paper Citation Record lists 41 of 41 outbound references and 0 inbound Pith citation observations for arXiv:2606.08520.

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

pith.paper-citation-record.v1
2606.08520 v1

Coverage vector

measured 41 of 41 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-06-27T18:31:03.548002Z

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 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

41 of 41 outbound references displayed

verified exact24
verified fuzzy0
unresolved14
parse uncertain0
malformed identifier1
metadata mismatch2

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 29dcf011-73a4-4cc3-88c5-01f114b961a8 · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Gemini Robotics: Bringing AI into the Physical World

Reference 1

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.612481Z

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 460bb0ff-50d3-465a-a812-b69b7402c516 · outbound

This paper cites EmbodiedMidtrain: Bridging the Gap between Vision-Language Models and Vision-Language-Action Models via Mid-training.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data EmbodiedMidtrain: Bridging the Gap between Vision-Language Models and Vision-Language-Action Models via Mid-training

Reference 2

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.615010Z

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 4e6a4262-53c0-4e82-ab77-aff0862c6221 · outbound

This paper cites Igniting vlms toward the embodied space.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Igniting vlms toward the embodied space

Reference 3

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.628205Z

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 ef10b2c3-edfc-4521-8e6a-30964501aaa6 · outbound

This paper cites arXiv preprint arXiv:2602.12684 (2026).

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data arXiv preprint arXiv:2602.12684 (2026)

Reference 4

Resolution: metadata mismatch; arxiv_id, observed 2026-07-02T22:57:26.622739Z

Source-reported events for the cited work

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Observation 1592a1a8-d3a3-4d4a-b020-51085000774b · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Rt-2: Vision-language-action models transfer web knowledge to robotic control

Reference 5

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 14f6b857-9e3e-40bc-99fa-2e39facb714a · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 6

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.645410Z

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 fb9e9331-da8a-47c4-b19d-cdf6ac22a7b1 · outbound

This paper cites A systematic study of data modalities and strategies for co-training large behavior models for robot manipulation.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data A systematic study of data modalities and strategies for co-training large behavior models for robot manipulation

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.650394Z

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 22637b58-5be2-4d69-ab4a-92a833b5b291 · outbound

This paper cites Chatvla: Unified multimodal understanding and robot control with vision-language-action model.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Chatvla: Unified multimodal understanding and robot control with vision-language-action model

Reference 8

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5da27947-44cb-4286-bb46-a924cee80148 · outbound

This paper cites PaLM-E: An Embodied Multimodal Language Model.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data PaLM-E: An Embodied Multimodal Language Model

Reference 9

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.647847Z

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 46e5ad93-4708-4fca-aea1-78ce8dec9fce · outbound

This paper cites Robobrain: A unified brain model for robotic manipulation from abstract to concrete.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Robobrain: A unified brain model for robotic manipulation from abstract to concrete

Reference 10

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e7f7a941-d341-4a4e-a830-2890fd0b7133 · outbound

This paper cites Eo-1: Interleaved vision- text-action pretraining for general robot control.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Eo-1: Interleaved vision- text-action pretraining for general robot control

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.642726Z

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 a911f3f1-358f-4c94-91fa-773766c3f1e8 · outbound

This paper cites GR-3 Technical Report.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data GR-3 Technical Report

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.677005Z

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 05feb8e7-087c-42d5-8eba-960c42c48d81 · outbound

This paper cites Galaxea Open-World Dataset and G0 Dual-System VLA Model.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Galaxea Open-World Dataset and G0 Dual-System VLA Model

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.673881Z

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 9a1d4219-70fa-482e-a2e7-b454a33a5ad4 · outbound

This paper cites Knowledge insulating vision-language-action models: Train fast, run fast, gener- alize better.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Knowledge insulating vision-language-action models: Train fast, run fast, gener- alize better

Reference 14

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e010a228-eaf8-46c1-b883-7cf153fb5c90 · outbound

This paper cites A Pragmatic VLA Foundation Model.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data A Pragmatic VLA Foundation Model

Reference 15

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.678999Z

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 477ab6b8-3c21-442e-b7cc-f2d28d8bb2f0 · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 16

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.674115Z

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 cedb128f-31bc-4cfa-8442-5722a19a0ea6 · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.671406Z

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 7dd4a909-461c-4f8e-b9cd-0129c9d8f77a · outbound

This paper cites Faster: Toward efficient autoregressive vision language action modeling via neural action tokenization.ArXiv, abs/2512.04952.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Faster: Toward efficient autoregressive vision language action modeling via neural action tokenization.ArXiv, abs/2512.04952

Reference 18

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.681722Z

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 c8fc0162-4792-4fc5-956d-ab8b054215cd · outbound

This paper cites VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data VLM4VLA: Revisiting Vision-Language-Models in Vision-Language-Action Models

Reference 19

Resolution: metadata mismatch; local_arxiv, observed 2026-07-02T22:57:26.647132Z

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 2c35d1c4-abc9-4c55-945c-d0f17d0d0ff2 · outbound

This paper cites Ac- tions as language: Fine-tuning vlms into vlas without catastrophic forgetting.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Ac- tions as language: Fine-tuning vlms into vlas without catastrophic forgetting

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.659245Z

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 e26e08bd-e99d-4c0a-a476-3ee6c1c12b0b · outbound

This paper cites Internvla-a1: Unifying understanding, generation and action for robotic manipulation.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Internvla-a1: Unifying understanding, generation and action for robotic manipulation

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.656442Z

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 6d129ccf-4039-44f3-a1d0-427ab9ba868a · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.630648Z

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 701eabf1-8228-461c-a46c-7db94ea50895 · outbound

This paper cites Robovqa: Multimodal long-horizon reasoning for robotics.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Robovqa: Multimodal long-horizon reasoning for robotics

Reference 23

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cd253d67-0c96-4767-9da7-3b10e9415ae4 · outbound

This paper cites Embspatial-bench: Benchmarking spatial understanding for embodied tasks with large vision-language models.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Embspatial-bench: Benchmarking spatial understanding for embodied tasks with large vision-language models

Reference 24

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 63018ce9-77f5-4a14-90a8-1cfafef2806f · outbound

This paper cites Roborefer: T owards spatial referring with reasoning in vision-language models for robotics.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Roborefer: T owards spatial referring with reasoning in vision-language models for robotics

Reference 25

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 814a907f-5180-4204-9aa0-d918b211eebe · outbound

This paper cites RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data RoboPoint: A Vision-Language Model for Spatial Affordance Prediction for Robotics

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.625464Z

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 a11db8bf-714e-49f6-950a-13c186bb2ccd · outbound

This paper cites MolmoAct: Action Reasoning Models that can Reason in Space.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data MolmoAct: Action Reasoning Models that can Reason in Space

Reference 27

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.684079Z

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 321c1fc5-bf7f-4f15-a02b-395bb2b7be90 · outbound

This paper cites RoboBrain 2.0 Technical Report.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data RoboBrain 2.0 Technical Report

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-07-02T22:57:26.661631Z

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 5e7b8b53-e5e9-4e87-86f1-3828d3965072 · outbound

This paper cites MiMo-Embodied: X-Embodied Foundation Model Technical Report.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data MiMo-Embodied: X-Embodied Foundation Model Technical Report

Reference 29

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.666647Z

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 9d7360df-869f-4e25-88a0-e7c80dd2894c · outbound

This paper cites Unify Robot Actions in Camera Frame.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Unify Robot Actions in Camera Frame

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.663913Z

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 540329be-a789-4f8c-ae5c-fef726a31720 · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data PaliGemma: A versatile 3B VLM for transfer

Reference 31

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.620183Z

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 3eae0e49-d2a0-46a1-91fa-d0b3f4407521 · outbound

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

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data FAST: Efficient Action Tokenization for Vision-Language-Action Models

Reference 32

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.636927Z

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 698a2985-af00-4ae2-a4af-853a6e81ddd2 · outbound

This paper cites Libero: Benchmarking knowledge transfer for lifelong robot learning.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Libero: Benchmarking knowledge transfer for lifelong robot learning

Reference 33

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ae7641ee-7863-4a21-942e-d342a29113a9 · outbound

This paper cites Evaluating Real-World Robot Manipulation Policies in Simulation.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Evaluating Real-World Robot Manipulation Policies in Simulation

Reference 34

Resolution: verified exact; local_arxiv, observed 2026-07-02T22:57:26.640254Z

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 bd49973d-68c3-4196-905a-e52aa94c36a0 · outbound

This paper cites Vlabench: A large-scale benchmark for language-conditioned robotics manipulation with long-horizon reasoning tasks.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Vlabench: A large-scale benchmark for language-conditioned robotics manipulation with long-horizon reasoning tasks

Reference 35

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c871eba9-716d-45e1-a9bd-551bc47b7ccb · outbound

This paper cites Bridgedata v2: A dataset for robot learning at scale.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Bridgedata v2: A dataset for robot learning at scale

Reference 36

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2478e3dd-b18f-4f24-a019-cb1338381a44 · outbound

This paper cites Vla-os: Structuring and dissecting planning representations and paradigms in vision-language- action models.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Vla-os: Structuring and dissecting planning representations and paradigms in vision-language- action models

Reference 37

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37f66123-0fbc-4c61-861c-776f06427abc · outbound

This paper cites A-okvqa: A benchmark for visual question answering using world knowledge.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data A-okvqa: A benchmark for visual question answering using world knowledge

Reference 38

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 63632920-b112-483c-aeb2-90d0b005252a · outbound

This paper cites Microsoft coco: Common objects in context.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data Microsoft coco: Common objects in context

Reference 39

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e925a7e5-0c83-4db2-80e2-9cf8d79fc35f · outbound

This paper cites COL", positioned in the center-right of the scene, to the left of the.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data COL", positioned in the center-right of the scene, to the left of the

Reference 40

Resolution: unresolved; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d06cd3c9-3fb2-4e9d-a0ef-cbc759b44cec · outbound

This paper cites bike” → “bicycle.

Two Bridges, One Pathway: From VLMs to Generalizable VLAs with Embodied Trajectory-Coupled Data bike” → “bicycle

Reference 41

Resolution: malformed identifier; no resolver link, observed 2026-06-27T18:31:03.548002Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.