Paper Citation Record · LEDGER

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer

As of 20 August 2026, this Paper Citation Record lists 42 of 42 outbound references and 1 inbound Pith citation observation for arXiv:2606.09416.

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

pith.paper-citation-record.v1
2606.09416 v1

Coverage vector

measured 42 of 42 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-06-27T16:15:23.835238Z

measured 43 of 43 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-03T20:32:55.955104Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-07-03T20:38:55.144400Z

Reference resolution

42 of 42 outbound references displayed

verified exact23
verified fuzzy0
unresolved12
parse uncertain0
malformed identifier0
metadata mismatch7

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation d7e85fc6-5605-4dd7-861c-a85bef7e42c1 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 1

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.903307Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 457418f2-fb00-4d0d-86d2-1a452d2b4f1f · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 2

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9207a574-61ec-4a93-babe-a904df998f31 · outbound

This paper cites Control barrier functions: Theory and ap- plications.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Control barrier functions: Theory and ap- plications

Reference 3

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.904049Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 38b3236f-e706-4ed9-9549-58e4c54b0184 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 4

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fd6d1afb-e6dd-4340-a565-315a75f81f30 · outbound

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

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 5

Resolution: verified exact; local_arxiv, observed 2026-07-03T01:47:31.941150Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 7f7e6a66-1ae4-467a-98e5-ef06b8185cca · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 6

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1925d589-6494-4535-b34c-c78f7da98fcd · outbound

This paper cites Brandenburg.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Brandenburg

Reference 7

Resolution: verified exact; doi, observed 2026-06-27T16:21:01.905743Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b1a3cc29-665a-48df-817c-8188ae28ab15 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 8

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0fe4c996-9cef-4b9a-808a-f1d433737bbf · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 9

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 635a5758-e954-41a1-853c-6934aea3c550 · outbound

This paper cites Nurmi, P.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Nurmi, P

Reference 10

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.892254Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 632cb355-91e1-438c-b48a-e291c81e4e53 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 11

Resolution: verified exact; doi, observed 2026-06-27T16:21:01.895927Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 5c98fb18-a6f5-4f7b-80e5-6a875b694e65 · outbound

This paper cites Anderson.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Anderson

Reference 12

Resolution: verified exact; doi, observed 2026-06-27T16:21:01.896404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 52742cd9-6bd2-40d6-9533-4262c6844233 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 13

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 855bb4cd-b5e1-42e9-bfe3-639378aebc3d · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 14

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8ddc1484-c40f-4844-9147-0d9242d336ea · outbound

This paper cites Version 2; accessed 2026-07-09.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Version 2; accessed 2026-07-09

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.887520Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 95b304d5-4d3b-4cfe-a377-ee1a95f6149f · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.889985Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 603942fe-49b3-426b-95b8-c7296bec9ae4 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 17

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1411a231-8c5e-4795-b10f-51f9e821d7c4 · outbound

This paper cites In: 2023 15th Inter- national Conference on COMmunication Systems & NETworkS (COMSNETS), pp.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer In: 2023 15th Inter- national Conference on COMmunication Systems & NETworkS (COMSNETS), pp

Reference 18

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.882232Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 97eb328d-f6a4-4cc6-972c-0865fdece196 · outbound

This paper cites Safety Aware Task Planning via Large Language Models in Robotics.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Safety Aware Task Planning via Large Language Models in Robotics

Reference 19

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:47:31.973282Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 6a296106-04a8-4bc6-895b-79a1ee0a5956 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.879735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation cf4ef446-c913-4fb2-adae-53a2ed5d1559 · outbound

This paper cites Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:47:31.965999Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 1f0cb6db-917c-413c-bad6-b410b8aeeb8f · outbound

This paper cites Optimizing ROS 2 Communication for Wireless Robotic Systems.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Optimizing ROS 2 Communication for Wireless Robotic Systems

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:47:31.968410Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation ef73a44e-778c-4d2d-a22d-b6f73795d47a · outbound

This paper cites Probabilistic Latency Analysis of the Data Distribution Service in ROS 2.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Probabilistic Latency Analysis of the Data Distribution Service in ROS 2

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:47:31.970775Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation fe5e0132-5ee0-4a51-b291-22d39b49959e · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.884761Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation bee7a68e-adfe-4112-a6a2-ea1caedf54de · outbound

This paper cites TartanAir: A dataset to push the limits of visual SLAM.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer TartanAir: A dataset to push the limits of visual SLAM

Reference 25

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.892715Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 1d093ae3-4ff1-4198-b1e6-55b0bfcd994f · outbound

This paper cites Zanchettin, and Stefano Zanero.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Zanchettin, and Stefano Zanero

Reference 26

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 07873b6b-99be-4c6b-8352-63996142e3e3 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 27

Resolution: verified exact; doi, observed 2026-06-27T16:21:01.898004Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 97c1754e-8da3-45d1-bfe9-fc0972b96d73 · outbound

This paper cites Agent harness for large language model agents: A survey.https://www.preprints.org/manuscript/202604.0428/v2.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Agent harness for large language model agents: A survey.https://www.preprints.org/manuscript/202604.0428/v2

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.877389Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8fd9ff76-f725-487b-9210-4f7154d6940c · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 29

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.869748Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 5c9ac287-4e09-4125-bbb5-a3650cbbbaad · outbound

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

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-07-03T01:47:31.975647Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 774e5d37-855a-4e07-ada1-33b699b13066 · outbound

This paper cites 2015.Data Distribution Service (DDS), Version 1.4.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer 2015.Data Distribution Service (DDS), Version 1.4

Reference 31

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b0c1fb34-7ee5-4a9b-b278-a55ae2242983 · outbound

This paper cites 2020.Extensible and Dynamic Topic Types for DDS (XTypes), Version 1.3.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer 2020.Extensible and Dynamic Topic Types for DDS (XTypes), Version 1.3

Reference 32

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 87f2a299-399c-4068-8f87-ff186ff8db2e · outbound

This paper cites Natural-Language Agent Harnesses.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Natural-Language Agent Harnesses

Reference 33

Resolution: verified exact; local_arxiv, observed 2026-07-03T01:47:31.977907Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation d606b0ec-622a-4c06-82ad-b5793e265894 · outbound

This paper cites AeroEcho: Towards Agricultural Low-power Wide-area Backscatter with Aerial Exci- tation Source.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer AeroEcho: Towards Agricultural Low-power Wide-area Backscatter with Aerial Exci- tation Source

Reference 34

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.868548Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2ec66ef0-961d-484c-934c-e76b48f05680 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 35

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.872245Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c91e68c5-c1ba-4c67-bc4c-e053c30d6f0d · outbound

This paper cites In: NASA Formal Methods Symposium.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer In: NASA Formal Methods Symposium

Reference 36

Resolution: metadata mismatch; doi, observed 2026-06-27T16:21:01.874414Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f07d22f4-f9c7-4d95-a32c-48ade51c6c40 · outbound

This paper cites Harnessing Embodied Agents: Runtime Governance for Policy-Constrained Execution.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Harnessing Embodied Agents: Runtime Governance for Policy-Constrained Execution

Reference 37

Resolution: verified exact; local_arxiv, observed 2026-07-03T01:47:31.968625Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 1a3decdb-ae49-41d0-88a2-90fe442cb74e · outbound

This paper cites RAI: Flexible Agent Framework for Embodied AI.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer RAI: Flexible Agent Framework for Embodied AI

Reference 38

Resolution: verified exact; arxiv_id, observed 2026-07-03T01:47:31.971003Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 5aae8f40-452f-4bdc-8021-ea8e6bf13966 · outbound

This paper cites IEEE Software 18, 20–28.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer IEEE Software 18, 20–28

Reference 39

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.860586Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 40240e84-25f3-4dd0-90e9-0c0225c40112 · outbound

This paper cites an unresolved cited work.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Unresolved cited work

Reference 40

Resolution: unresolved; no resolver link, observed 2026-06-27T16:15:23.835238Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4e4cc4a1-d7fe-4557-a45e-0c30c6cb6888 · outbound

This paper cites Wilson, Abdullah Al Arafat, John Baugh, Ruozhou Yu, and Zhishan Guo.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Wilson, Abdullah Al Arafat, John Baugh, Ruozhou Yu, and Zhishan Guo

Reference 41

Resolution: verified exact; arxiv_id, observed 2026-06-27T16:21:01.871024Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation b4fb021f-47e9-4d4c-bd01-d733b16a37e6 · outbound

This paper cites Spotverse: Optimizing bioinformatics workflows with multi-region spot instances in galaxy and beyond.

Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer Spotverse: Optimizing bioinformatics workflows with multi-region spot instances in galaxy and beyond

Reference 42

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T16:21:01.858093Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

Observation 3e0bc432-6c34-4b60-ad29-02dcfe519d80 · inbound

The Three Dimensions of ROS 2 Middleware cites this paper.

The Three Dimensions of ROS 2 Middleware Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer

Reference 30

Resolution: verified exact; local_arxiv, observed 2026-07-03T20:38:55.145640Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.