Paper Citation Record · LEDGER

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning

As of 6 August 2026, this Paper Citation Record lists 45 of 45 outbound references and 1 inbound Pith citation observation for arXiv:2607.25593.

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

pith.paper-citation-record.v1
2607.25593 v1

Coverage vector

measured 45 of 45 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-01T02:03:43.880842Z

measured 46 of 46 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 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-07-30T21:05:52.749863Z

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

45 of 45 outbound references displayed

verified exact0
verified fuzzy0
unresolved43
parse uncertain2
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation a8cf1f62-b6c3-44a9-9aa2-16f292ba4629 · outbound

This paper cites Transactions on Machine Learning Research , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Transactions on Machine Learning Research , year=

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.341620Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation af453907-581f-403b-ba38-982a5e2158d6 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.430337Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 051c361f-a456-4501-879b-ab9869793d87 · outbound

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

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning RT-1: Robotics Transformer for Real-World Control at Scale

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.607827Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation aed230cf-28f1-426e-b1ee-3ea234b109a7 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.699689Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d991f92d-c5b5-4d0e-b0a0-3ee0a4c5b32e · outbound

This paper cites IEEE International Conference on Robotics and Automation (ICRA) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE International Conference on Robotics and Automation (ICRA) , year=

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.715543Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 93ce9cac-cee1-44ee-a172-d0690bc01d08 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.720042Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7eb870a6-4f85-4b9f-86aa-2a3a36580130 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.724905Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c8511d64-ce20-4ee4-9edb-7b339f150ed0 · outbound

This paper cites X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.729361Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 54d8c773-706c-402a-b604-44227add6577 · outbound

This paper cites Advances in Neural Information Processing Systems (NeurIPS) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Advances in Neural Information Processing Systems (NeurIPS) , year=

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.733565Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3026aff6-87c3-46bc-ad4c-8517dacea4ed · outbound

This paper cites Robotics and Autonomous Systems , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Robotics and Autonomous Systems , volume=

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.737783Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 04f8b19b-ab44-472e-af46-894be4f149c4 · outbound

This paper cites International Conference on Artificial Intelligence and Statistics (AISTATS) , pages=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning International Conference on Artificial Intelligence and Statistics (AISTATS) , pages=

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.741969Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation db2d2299-4a20-4c6e-b708-ea0e995d91e1 · outbound

This paper cites Advances in Neural Information Processing Systems (NeurIPS) , pages=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Advances in Neural Information Processing Systems (NeurIPS) , pages=

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.746079Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4039eda8-34c5-4028-9616-9b8dc89de009 · outbound

This paper cites Conference on Robot Learning (CoRL) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Conference on Robot Learning (CoRL) , year=

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.750110Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d2b0f22e-ef30-4ad5-825b-0a61da75a52f · outbound

This paper cites Behavior Transformers: Cloning.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Behavior Transformers: Cloning

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.754085Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 759ac468-3f67-43b6-81f0-db33d5006497 · outbound

This paper cites Robotics: Science and Systems (RSS) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Robotics: Science and Systems (RSS) , year=

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.758020Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cd21d626-ef08-45b6-a2f2-09cd16826a2c · outbound

This paper cites Advances in Neural Information Processing Systems (NeurIPS) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Advances in Neural Information Processing Systems (NeurIPS) , year=

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.762088Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5ec6b167-ad92-4025-a1ac-a13129211bbc · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.766126Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3b1d4d39-e24a-4069-8f68-d42c60b7c8e3 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.769986Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 38dd6c6b-02d4-472a-81bb-5b253a225365 · outbound

This paper cites IEEE Transactions on Knowledge and Data Engineering , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE Transactions on Knowledge and Data Engineering , volume=

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.773864Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 60dc72b7-eb7b-4c60-82f3-010af5161870 · outbound

This paper cites Machine Learning , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Machine Learning , volume=

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.778079Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c59700cf-635b-4913-93f6-cb9d7fdf558a · outbound

This paper cites NIPS Workshop on Inductive Transfer: 10 Years Later , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning NIPS Workshop on Inductive Transfer: 10 Years Later , year=

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.782189Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation db6bf2e5-2b99-4104-87af-e5ba7014e04d · outbound

This paper cites IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) , pages=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) , pages=

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.786103Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation baf158e8-d26e-4cff-afd6-86b7d234dcf1 · outbound

This paper cites IEEE/CAA Journal of Automatica Sinica , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE/CAA Journal of Automatica Sinica , volume=

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.790126Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73440bd5-8ced-4517-890f-8fb12ffcd0ff · outbound

This paper cites Proceedings of the National Academy of Sciences , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Proceedings of the National Academy of Sciences , volume=

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.793905Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5deff99e-26bf-4ee3-8299-a963d4783bb3 · outbound

This paper cites Neural Networks , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Neural Networks , volume=

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.797835Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 607cf487-df13-43cb-b599-c5fc2e34ae62 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.802775Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f91a365e-c788-4e63-a9fb-3d56dcb0d2ca · outbound

This paper cites 2020 , eprint=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning 2020 , eprint=

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.806703Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f02f2199-ba4d-4012-99d1-1305035d32ae · outbound

This paper cites Transactions on Machine Learning Research , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Transactions on Machine Learning Research , year=

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.810909Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d242f3dd-882e-4bb9-be22-247856237ba4 · outbound

This paper cites International Conference on Learning Representations (ICLR) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning International Conference on Learning Representations (ICLR) , year=

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.815190Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 32081986-f8af-4223-8af5-2b7a365d1865 · outbound

This paper cites 2022 , eprint=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning 2022 , eprint=

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.819031Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e597d723-a281-4eb1-8beb-fc5493f30c2e · outbound

This paper cites Advances in Neural Information Processing Systems , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Advances in Neural Information Processing Systems , volume=

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.823878Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2f602e73-fe8d-4753-8f76-01d178d3386b · outbound

This paper cites IEEE Robotics and Automation Letters , volume=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE Robotics and Automation Letters , volume=

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.828024Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation da49803c-aac3-407e-ac4d-6555a3f9c9ae · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.832058Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 69fce194-b435-4c1d-80b5-0925b00c2b0c · outbound

This paper cites Robotics: Science and Systems (RSS) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Robotics: Science and Systems (RSS) , year=

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.836366Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f95cb1b7-3d72-474a-a135-e11ea1ad831c · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.840267Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 012d65a0-3733-4db9-b029-1c6d3c486eaa · outbound

This paper cites , journal=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning , journal=

Reference 36

Resolution: parse uncertain; no resolver link, observed 2026-08-01T02:03:43.844112Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d2bdc454-30e6-4cb5-8dcc-89ad31b145d1 · outbound

This paper cites Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers (.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers (

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.848128Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6b23717e-062d-4a83-938f-4321ae4e2518 · outbound

This paper cites , journal=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning , journal=

Reference 38

Resolution: parse uncertain; no resolver link, observed 2026-08-01T02:03:43.852080Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5f092277-02e8-4270-b337-81452b1c487e · outbound

This paper cites Robotics: Science and Systems (RSS) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Robotics: Science and Systems (RSS) , year=

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.855993Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ea8da67f-2c5b-4fc8-bf69-e804c791d0cb · outbound

This paper cites NIPS Workshop on Inductive Transfer: 10 Years Later , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning NIPS Workshop on Inductive Transfer: 10 Years Later , year=

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.860014Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ce6efbbf-c7ef-4cf5-8bd7-5b767454360e · outbound

This paper cites IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) , year=

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.864207Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1648579e-c478-4712-b159-db13cb020c59 · outbound

This paper cites an unresolved cited work.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Unresolved cited work

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.868394Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a7ca66aa-1a75-4894-940f-25023b98d915 · outbound

This paper cites arXiv preprint , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning arXiv preprint , year=

Reference 43

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.872222Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 60905d64-b06b-4ccd-87c2-2627fde5af27 · outbound

This paper cites Scaling Laws for Neural Language Models.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Scaling Laws for Neural Language Models

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.876516Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation be0bb65a-5fc0-4d83-87d2-f110c63c69fe · outbound

This paper cites Transactions on Machine Learning Research (TMLR) , year=.

When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning Transactions on Machine Learning Research (TMLR) , year=

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-01T02:03:43.880842Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 7a23eaf8-8b09-421f-ad9a-bd582d627ef6 · inbound

CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation cites this paper.

CheckVLA: Execution-Time Verification with Action-Conditioned World Model for Long-Horizon Mobile Manipulation When Does Legacy Data Start to Help? Emergent Transfer in Cross-Configuration Robot Learning

Reference 43

Resolution: unresolved; no resolver link, observed 2026-07-30T21:05:52.749863Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.