Paper Citation Record · LEDGER

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model

As of 25 July 2026, this Paper Citation Record lists 46 of 46 outbound references and 0 inbound Pith citation observations for arXiv:2606.20698.

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

pith.paper-citation-record.v1
2606.20698 v1

Coverage vector

measured 46 of 46 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-06-27T04:13:22.598591Z

measured 46 of 46 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-07-25T06:30:59.84592+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

46 of 46 outbound references displayed

verified exact24
verified fuzzy0
unresolved18
parse uncertain0
malformed identifier2
metadata mismatch2

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 9431746a-41ec-4c11-bb62-00c893d0a1c3 · outbound

This paper cites Brunke, M.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Brunke, M

Reference 1

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e7d69a8d-1ceb-4808-b041-9641ede98884 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 2

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 081049cf-0812-40d0-beb8-9c4ced69abb5 · outbound

This paper cites Real-time obstacle avoidance for manipulators and mobile robots.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Real-time obstacle avoidance for manipulators and mobile robots

Reference 3

Resolution: verified exact; doi, observed 2026-06-27T04:20:31.946980Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 4feaa642-b149-4447-9e9f-278899e9ec8c · outbound

This paper cites Li, 3d fully convolutional network for vehicle de- tection in point cloud, in: 2017 IEEE/RSJ Interna- tional Conference on Intelligent Robots and Systems (IROS), 2017, pp.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Li, 3d fully convolutional network for vehicle de- tection in point cloud, in: 2017 IEEE/RSJ Interna- tional Conference on Intelligent Robots and Systems (IROS), 2017, pp

Reference 4

Resolution: malformed identifier; doi_truncated, observed 2026-06-27T04:20:31.944810Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation a7107b95-7ac7-4407-a392-fe203eef57b7 · outbound

This paper cites Haddadin, A.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Haddadin, A

Reference 5

Resolution: verified exact; doi, observed 2026-06-27T04:20:31.964209Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation d8156a4b-56fd-49b8-92f0-4e8fc73e2787 · outbound

This paper cites Haddadin, A.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Haddadin, A

Reference 6

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.939211Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation fbd61de5-8d9e-4c7e-8766-f9512872b78e · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.961105Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation d96feb02-4fbf-4e2a-a794-8f2c3ced5ba8 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 8

Resolution: verified exact; doi, observed 2026-06-27T04:20:31.961942Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 690dd619-0aaf-4e12-8548-6ae840d1e846 · outbound

This paper cites Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Safety-Critical Optimal Control for Robotic Manipulators in A Cluttered Environment

Reference 9

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.945990Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 4cf2563e-1524-4238-b49e-67b6fee37f82 · outbound

This paper cites Brohan, N.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Brohan, N

Reference 10

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c7aa011a-3189-45be-a222-b61f1a3fa284 · outbound

This paper cites Open X-Embodiment: Robotic Learning Datasets and RT-X Models.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Reference 11

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:28:44.187967Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation f190b701-ae5c-4a67-b909-cc7fdddd5661 · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model OpenVLA: An Open-Source Vision-Language-Action Model

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.352219Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 5b671430-935d-48e4-be65-c56bdb085dd7 · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Octo: An Open-Source Generalist Robot Policy

Reference 13

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:28:44.190678Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation f93f6a6b-4df2-4ee6-b78c-690ad3ecce7d · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 14

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.362058Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 0c0fdb36-0512-451a-83c7-9addeafba095 · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Control barrier functions: Theory and ap- plications

Reference 15

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.956729Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation a615724e-ec73-492d-923c-578fa19abfe0 · outbound

This paper cites Huang, J.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Huang, J

Reference 16

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 89d69aa1-a097-46d6-b76e-e7f23ae362a4 · outbound

This paper cites Zhang, Y.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Zhang, Y

Reference 17

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ae2ae3bc-8d02-4adf-9f62-6c90b0cb4920 · outbound

This paper cites VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model VLSA: Vision-Language-Action Models with Plug-and-Play Safety Constraint Layer

Reference 18

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.348813Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 100c7a0a-2906-4bc3-801b-0321524c0e02 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 19

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b1c9a51c-77bd-4dc7-83ee-5893cc069275 · outbound

This paper cites Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Safe-Night VLA: Seeing the Unseen via Thermal-Perceptive Vision-Language-Action Models for Safety-Critical Manipulation

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-07-17T02:21:32.193530Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation b05cc9f2-d1d9-45ed-9aab-8e4de26304e1 · outbound

This paper cites Son, D.-K.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Son, D.-K

Reference 21

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.966668Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 903bb4bb-4e7b-4474-8b61-31feec2dfd03 · outbound

This paper cites Cofreevla: Collision-free dual-arm manipulation via vision-language-action model and risk estimation.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Cofreevla: Collision-free dual-arm manipulation via vision-language-action model and risk estimation

Reference 22

Resolution: verified exact; arxiv_id, observed 2026-07-03T17:18:44.360795Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 8b3b97fc-7017-4821-9172-561aa7638066 · outbound

This paper cites Pranav Guruprasad, Harshvardhan Sikka, Jaewoo Song, Yangyue Wang, and Paul Pu Liang.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Pranav Guruprasad, Harshvardhan Sikka, Jaewoo Song, Yangyue Wang, and Paul Pu Liang

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.953710Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 62cfe2bf-a65b-4d10-9fe0-c2e626669ab7 · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model GRAPE: Generalizing Robot Policy via Preference Alignment

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-07-03T17:18:44.353030Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation dd067f52-1652-4806-8e97-4d554a3ac16d · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model GRAPE: Generalizing Robot Policy via Preference Alignment

Reference 25

Resolution: metadata mismatch; arxiv_id, observed 2026-06-27T04:20:31.958581Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 9893b730-fd55-465c-a4cf-af9022f63095 · outbound

This paper cites Altman.Constrained Markov Decision Processes.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Altman.Constrained Markov Decision Processes

Reference 26

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c41f090a-4f76-4b43-9b4e-c2b2e775c617 · outbound

This paper cites Achiam, D.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Achiam, D

Reference 27

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 15830582-5561-479a-aa0c-904b2363af54 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 28

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fd56d5c4-11b4-4dd7-9715-a14a2e4d7e1e · outbound

This paper cites Tessler, D.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Tessler, D

Reference 29

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 317fc33f-8ea0-4ba2-a4dd-5c3f78f439ba · outbound

This paper cites Zhang, Q.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Zhang, Q

Reference 30

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 38c8e800-49ad-4410-b39c-08fa4f35e556 · outbound

This paper cites Stooke, J.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Stooke, J

Reference 31

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a3352358-5c02-4ed6-b8ba-2a3f725fab1a · outbound

This paper cites Thomas, Y.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Thomas, Y

Reference 32

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2091cfbc-367d-4a83-9374-70a5c38c6217 · outbound

This paper cites Hogewind, T.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Hogewind, T

Reference 33

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ea4024e8-8ef0-47d5-a226-475ad721e258 · outbound

This paper cites Generalizing safety beyond collision-avoidance via latent- space reachability analysis.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Generalizing safety beyond collision-avoidance via latent- space reachability analysis

Reference 34

Resolution: verified exact; doi, observed 2026-06-27T04:20:31.950974Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation a82fa073-f547-4f52-829e-63c6c9e0dbd5 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 35

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8a49b8e3-a146-4f4e-82ef-62fda9c106bc · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 36

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ed0564d4-9380-49df-ad19-fdd27c9db8dd · outbound

This paper cites WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model WoVR: World Models as Reliable Simulators for Post-Training VLA Policies with RL

Reference 37

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.349846Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 37a32824-084f-4ae0-9251-8509f1759774 · outbound

This paper cites World-Env: Leveraging World Model as a Virtual Environment for VLA Post-Training.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model World-Env: Leveraging World Model as a Virtual Environment for VLA Post-Training

Reference 38

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.356532Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation a14210ec-0b4b-4428-9e74-1c03ea1775c2 · outbound

This paper cites Vla-rft: Vision- language-action reinforcement fine-tuning with veri- fied rewards in world simulators.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Vla-rft: Vision- language-action reinforcement fine-tuning with veri- fied rewards in world simulators

Reference 39

Resolution: verified exact; arxiv_id, observed 2026-06-27T04:20:31.969644Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 42a2284b-a6ff-432c-b48a-29e11db0b450 · outbound

This paper cites World-VLA-Loop: Closed-Loop Learning of Video World Model and VLA Policy.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model World-VLA-Loop: Closed-Loop Learning of Video World Model and VLA Policy

Reference 40

Resolution: malformed identifier; local_arxiv, observed 2026-07-03T17:18:44.363907Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation a0a980f1-3237-45c4-8161-26e3128bfc6b · outbound

This paper cites Wan: Open and Advanced Large-Scale Video Generative Models.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Wan: Open and Advanced Large-Scale Video Generative Models

Reference 41

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:18:44.345493Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 147aa7a5-6fa3-4eb3-8450-7dcb4ca15299 · outbound

This paper cites Girgis, R.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Girgis, R

Reference 42

Resolution: verified exact; arxiv_id, observed 2026-07-03T17:18:44.346116Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation db3bbbba-6749-460d-8547-ad2e0bd4c1cb · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 43

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 141e5c11-0b4c-48f0-a59a-2ff7902f225b · outbound

This paper cites robosuite: A Modular Simulation Framework and Benchmark for Robot Learning.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model robosuite: A Modular Simulation Framework and Benchmark for Robot Learning

Reference 44

Resolution: verified exact; local_arxiv, observed 2026-07-03T17:28:44.193134Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Observation 82e32704-df5a-4e60-b6aa-0260083646b3 · outbound

This paper cites an unresolved cited work.

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Unresolved cited work

Reference 45

Resolution: unresolved; no resolver link, observed 2026-06-27T04:13:22.598591Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 28bf2df1-fab4-4452-be46-8a37b45d13e1 · outbound

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

SafeDojo: Safe Reinforcement Learning for VLA via Interactive World Model Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success

Reference 46

Resolution: metadata mismatch; doi, observed 2026-06-27T04:20:31.963475Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-07-25T06:30:59.84592+00:00.

Pith citing papers

No inbound Pith citation observations are available.