Paper Citation Record · LEDGER

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation

As of 6 August 2026, this Paper Citation Record lists 42 of 42 outbound references and 0 inbound Pith citation observations for arXiv:2607.18231.

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

pith.paper-citation-record.v1
2607.18231 v1

Coverage vector

measured 42 of 42 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-01T15:44:15.613713Z

measured 42 of 42 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-06T06:34:29.942622+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

42 of 42 outbound references displayed

verified exact0
verified fuzzy0
unresolved41
parse uncertain1
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 27a601c9-fb8d-45f9-8f24-8035793ffe50 · outbound

This paper cites RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.478396Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6bb13ed8-c4a7-482f-9830-158c6aa95452 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation OpenVLA: An Open-Source Vision-Language-Action Model

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.512756Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9cf63ea2-ca55-41f0-a1eb-6c87aa7e2232 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.612101Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6f820b95-3942-41c1-b091-52d42c087dc7 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.713098Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5a7b4b1-2220-48ac-aa07-e7a3b467db89 · outbound

This paper cites MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.802477Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b1d8a137-6161-4cf0-95f3-c1bd2ea79554 · outbound

This paper cites Torne, K.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Torne, K

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:10.903656Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73153bf7-75e3-481b-9a43-128e786b9905 · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.012398Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a1b23ed1-bb07-4b7f-ae82-289f4764333f · outbound

This paper cites TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Models

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.064685Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e53b174f-0af6-41e8-bda6-44388980fcff · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.175958Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c84246eb-7904-4c1c-8879-e5914e9e3cb2 · outbound

This paper cites Perceiver IO: A General Architecture for Structured Inputs & Outputs.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Perceiver IO: A General Architecture for Structured Inputs & Outputs

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.364259Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9f7fba3e-51c1-42e7-9dd7-9659f5010b8d · outbound

This paper cites PaliGemma 2: A Family of Versatile VLMs for Transfer.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation PaliGemma 2: A Family of Versatile VLMs for Transfer

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.496958Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37c70f22-b828-42dc-94e4-ecbb4212a120 · outbound

This paper cites Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.610124Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4273a034-b16f-46d6-82da-324e5b0716b3 · outbound

This paper cites Qwen3-VL Technical Report.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Qwen3-VL Technical Report

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.743801Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a566d980-af4e-4604-8ba7-be8a0e94ca71 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.850482Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation eed5b32e-a08c-4069-9ee4-b23cc0f51dff · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Gemini Robotics: Bringing AI into the Physical World

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:11.960573Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 15df2116-1fa0-49b2-a56c-ecfe2d63be22 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.074872Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4ea5cd20-8b27-45f0-a882-fa487dfd3ca2 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation GR00T N1: An Open Foundation Model for Generalist Humanoid Robots

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.220954Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3848fd6e-9ea5-4072-a5ed-95ea6ea758c7 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation SpatialVLA: Exploring Spatial Representations for Visual-Language-Action Model

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.320548Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f0c6eb69-92c8-4272-b4af-c563b659582e · outbound

This paper cites GR-3 Technical Report.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation GR-3 Technical Report

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.468644Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 77d5d839-c2e7-4957-910a-cc413d6f1906 · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.618627Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 05b5a359-c7df-4fde-bd44-3cb3db726c1e · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.719003Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23dc111f-4928-4937-8559-dfddb2a5807e · outbound

This paper cites VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memory

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.793735Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7ad018c6-af90-4a51-8945-8adb9b306928 · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:12.866931Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8773cf13-7cae-492d-ac5a-41240aea4ede · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.020505Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1dcf2d66-6526-485d-8270-80bd725c1ba1 · outbound

This paper cites Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Notes-to-Self: Scratchpad Augmented VLAs for Memory Dependent Manipulation Tasks

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.140820Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4e1b70c3-153a-4e96-ba52-da5d16eb190f · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.256638Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 279d041e-0499-4a3d-b8f8-46bf3df1ffb6 · outbound

This paper cites Chung, T.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Chung, T

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.394550Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a259a3fc-b618-47b1-afb0-b10cf73ddd33 · outbound

This paper cites ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.539964Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation da04747d-ef98-40c5-b2f0-1baa741af685 · outbound

This paper cites Zhang, H.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Zhang, H

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.727588Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b19b268c-4432-48ee-bb2e-7e99ce8f3edd · outbound

This paper cites Gubernatorov, M.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Gubernatorov, M

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:13.914624Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 06e74158-77d4-400c-a8f8-4b443df136a9 · outbound

This paper cites AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation AT-VLA: Adaptive Tactile Injection for Enhanced Feedback Reaction in Vision-Language-Action Models

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.060974Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6a3105d1-fa37-4c8e-8b0d-c1d5383ba08f · outbound

This paper cites Huang, P.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Huang, P

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.168248Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0be13bcd-9d77-4c44-befc-92e4441947ba · outbound

This paper cites VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.315740Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5ebe75ed-773b-4d1c-93fb-690b33c8a1f5 · outbound

This paper cites Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Learning to Feel the Future: DreamTacVLA for Contact-Rich Manipulation

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.482881Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 39dcb036-722c-4923-8ae0-c2060b213662 · outbound

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

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation PaliGemma: A versatile 3B VLM for transfer

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.694147Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b93c0780-29fa-4cf3-81f9-4ab214eeda50 · outbound

This paper cites Sigmoid Loss for Language Image Pre-Training.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Sigmoid Loss for Language Image Pre-Training

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:14.870038Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b7398747-8169-4c3d-b526-5be0299ecce8 · outbound

This paper cites Flow Matching for Generative Modeling.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Flow Matching for Generative Modeling

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:15.116574Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 42a522ff-2d6a-49c1-abdc-3e3d09c51d7f · outbound

This paper cites Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flow

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:15.243582Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5a026672-5c2e-4302-874a-245a736e8bdd · outbound

This paper cites Agibot g1 humanoid robot.https://www.agibot.com/products/G1,.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Agibot g1 humanoid robot.https://www.agibot.com/products/G1,

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:15.353962Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3ba81507-324e-4d0c-b5c9-0dcff3fb08f8 · outbound

This paper cites Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Empirical Evaluation of Gated Recurrent Neural Networks on Sequence Modeling

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:15.520110Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6e23a91b-a454-418d-849e-d64d3295ded2 · outbound

This paper cites BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-01T15:44:15.613713Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 549e009b-4dd1-4faa-92d1-6622371c818f · outbound

This paper cites an unresolved cited work.

FM-VLA: Force-based Memory for Vision-Language-Action Models in Contact-Rich Manipulation Unresolved cited work

Reference 2024

Resolution: parse uncertain; no resolver link, observed 2026-08-01T15:44:15.462704Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

No inbound Pith citation observations are available.