Paper Citation Record · LEDGER

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation

As of 15 August 2026, this Paper Citation Record lists 38 of 38 outbound references and 0 inbound Pith citation observations for arXiv:2608.09125.

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

pith.paper-citation-record.v1
2608.09125 v1

Coverage vector

measured 38 of 38 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-11T23:05:04.689267Z

measured 38 of 38 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-14T06:32:32.682623+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

38 of 38 outbound references displayed

verified exact1
verified fuzzy23
unresolved14
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 026f7c62-0c11-4e24-af3d-fa64b11d19f8 · outbound

This paper cites A decade retrospective of medical robotics research from 2010 to 2020,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation A decade retrospective of medical robotics research from 2010 to 2020,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.652499Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 58463f02-d0e9-41e6-9fe0-ad5cd6e9c3c5 · outbound

This paper cites Surgical embodied intelligence for generalized task autonomy in laparoscopic robot-assisted surgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Surgical embodied intelligence for generalized task autonomy in laparoscopic robot-assisted surgery,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.637347Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation cfcaf0f8-310b-4d3c-b86b-34f0012c516e · outbound

This paper cites Autonomous robotic laparoscopic surgery for intestinal anastomosis,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Autonomous robotic laparoscopic surgery for intestinal anastomosis,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.616230Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3286e088-870a-422d-a90b-2a6ccd6a10b6 · outbound

This paper cites Learning by observation for surgical subtasks: Multilateral cutting of 3d viscoelastic and 2d orthotropic tissue phantoms,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Learning by observation for surgical subtasks: Multilateral cutting of 3d viscoelastic and 2d orthotropic tissue phantoms,

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.600791Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation ed5a9193-3853-44a3-8d1b-32ee111bd124 · outbound

This paper cites Real-time glottis detection framework via spatial-decoupled feature learning for nasal transnasal intubation,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Real-time glottis detection framework via spatial-decoupled feature learning for nasal transnasal intubation,

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.587385Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 4a46e867-1196-4c28-9969-cbc4a475e8ad · outbound

This paper cites Deep learning–based autonomous retinal vein cannulation in ex vivo porcine eyes,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Deep learning–based autonomous retinal vein cannulation in ex vivo porcine eyes,

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.574612Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 96adc751-9edc-4ee7-aaf6-f6c7fa08c03b · outbound

This paper cites Vision language action models in robotic manipulation: A systematic review,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Vision language action models in robotic manipulation: A systematic review,

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.550676Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 70de679c-4297-49a6-ab42-d3c17e7acedc · outbound

This paper cites General-purpose foundation models for increased autonomy in robot- assisted surgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation General-purpose foundation models for increased autonomy in robot- assisted surgery,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.560258Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 28c57fcf-e3f6-478d-b592-a44a73ae79e9 · outbound

This paper cites Vaisi: Vision-based adaptive impedance-control for surgical incisions,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Vaisi: Vision-based adaptive impedance-control for surgical incisions,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.546923Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation bf637d8b-7742-4c0f-b7b2-a83c30759354 · outbound

This paper cites Task-adaptive analytical affordance estimation for feature-based manipulation of soft tissues in robotic surgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Task-adaptive analytical affordance estimation for feature-based manipulation of soft tissues in robotic surgery,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.527772Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation b0388e08-6812-4a9e-bab4-26b8a111c17c · outbound

This paper cites Artificial in- telligence: revolutionizing robotic surgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Artificial in- telligence: revolutionizing robotic surgery,

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.513011Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 8a1c609c-0cf4-4068-868d-3dc03ffe7aaa · outbound

This paper cites Sensorless planning for medical needle insertion procedures,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Sensorless planning for medical needle insertion procedures,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.498934Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation f9b18350-eefb-4b61-afd7-299be302fe38 · outbound

This paper cites Geolang: Geometry-aware language-guided grasping with unified rgb-d multimodal learning,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Geolang: Geometry-aware language-guided grasping with unified rgb-d multimodal learning,

Reference 13

Resolution: verified exact; raw_fallback, observed 2026-08-11T23:05:05.205584Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation a119534c-b6bd-4336-a504-9054af216e74 · outbound

This paper cites Mosformer: Momentum encoder-based inter-slice fusion transformer for medical image segmentation,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Mosformer: Momentum encoder-based inter-slice fusion transformer for medical image segmentation,

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.483480Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 77a84df0-3219-49f8-932d-8258c176546e · outbound

This paper cites A user-centered shared control scheme with learning from demonstration for robotic surgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation A user-centered shared control scheme with learning from demonstration for robotic surgery,

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.467310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 5490d0bc-f0d3-4f8b-a28b-090a7212fa58 · outbound

This paper cites Autonomous Soft Tissue Retraction Using Demonstration-Guided Reinforcement Learning.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Autonomous Soft Tissue Retraction Using Demonstration-Guided Reinforcement Learning

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.588217Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6b02ceab-cd3b-4021-856f-6b0251834f06 · outbound

This paper cites Surrol: An open-source reinforcement learning centered and dvrk compatible platform for surgical robot learning,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Surrol: An open-source reinforcement learning centered and dvrk compatible platform for surgical robot learning,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.453554Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation f5a8e5c9-a31d-4686-b3da-cd247577436f · outbound

This paper cites Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Surgical Robot Transformer (SRT): Imitation Learning for Surgical Tasks

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.594930Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 18ff8f5e-b8f0-4870-8969-d20eaeb8a628 · outbound

This paper cites Supervised Mixture-of-Experts for Surgical Grasping and Retraction.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Supervised Mixture-of-Experts for Surgical Grasping and Retraction

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.599133Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6104c063-a10e-452a-af05-d145bbf8276f · outbound

This paper cites Sufia-bc: Generating high quality demonstration data for visuomotor policy learning in surgical subtasks,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Sufia-bc: Generating high quality demonstration data for visuomotor policy learning in surgical subtasks,

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.439991Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 29819ce7-8f4c-4fa0-8636-86076f1ee0da · outbound

This paper cites Copesd: A multi-level surgical motion dataset for train- ing large vision-language models to co-pilot endoscopic submucosal dissection,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Copesd: A multi-level surgical motion dataset for train- ing large vision-language models to co-pilot endoscopic submucosal dissection,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.427756Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation fcd93181-efd8-4515-a23b-198efa946484 · outbound

This paper cites Srt-h: A hierarchical framework for autonomous surgery via language-conditioned imitation learning,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Srt-h: A hierarchical framework for autonomous surgery via language-conditioned imitation learning,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.412766Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 4ac04de6-3b1c-47dc-89b8-345e9f81ee30 · outbound

This paper cites Vision- language-action (vla) models: Concepts, progress, applications and challenges,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Vision- language-action (vla) models: Concepts, progress, applications and challenges,

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.613832Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cea37677-e9d8-4989-8886-be4e7f316009 · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Rt-2: Vision-language-action models transfer web knowledge to robotic control,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.617737Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 567d075e-8f3e-4538-acce-80f0fedd8f81 · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Octo: An Open-Source Generalist Robot Policy

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.621777Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 798a4dcf-bb88-4f93-b51b-08d70b7432af · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation OpenVLA: An Open-Source Vision-Language-Action Model

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.627445Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 421e5538-8542-4e45-8033-0b3f21832056 · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.631899Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8765cfc7-f321-4460-9fb6-ebe3a665346f · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.636614Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f9adde84-a190-445f-bbee-4325cae70346 · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Galaxea Open-World Dataset and G0 Dual-System VLA Model

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.640830Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f7c041dc-9128-415f-9c6c-b48dad565d02 · outbound

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

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.646042Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3ee49789-e612-4021-bbbc-538942c886b2 · outbound

This paper cites Robonurse- vla: Robotic scrub nurse system based on vision-language-action model,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Robonurse- vla: Robotic scrub nurse system based on vision-language-action model,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.387113Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation c796a323-1d6d-4b06-bf69-2b758bb4b138 · outbound

This paper cites Endovla: Dual-phase vision-language-action for precise autonomous tracking in endoscopy,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Endovla: Dual-phase vision-language-action for precise autonomous tracking in endoscopy,

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.368270Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 253588a8-8616-4e14-9f85-2e7af70f4478 · outbound

This paper cites Local lyapunov exponents in chaotic systems,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Local lyapunov exponents in chaotic systems,

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.350997Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 211bfda4-ff14-4ad6-ac1d-2b355fe87b3f · outbound

This paper cites Do what you say: Steering vision-language-action models via runtime reasoning-action alignment verification,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Do what you say: Steering vision-language-action models via runtime reasoning-action alignment verification,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.667605Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 94d5a054-ea85-48f1-90c0-8a1c82167d32 · outbound

This paper cites Deep rein- forcement learning in a handful of trials using probabilistic dynamics models,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Deep rein- forcement learning in a handful of trials using probabilistic dynamics models,

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-11T23:05:04.673867Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fc24d8b1-f141-4e7f-a2b2-6cffce25b50c · outbound

This paper cites The intuitive/sup tm/telesurgery system: overview and application,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation The intuitive/sup tm/telesurgery system: overview and application,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.327404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation 3156c277-ede0-4b99-9df1-10d6c38245dc · outbound

This paper cites 1405 telelap alf-x: a novel telesurgical system for the 21st century,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation 1405 telelap alf-x: a novel telesurgical system for the 21st century,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.308116Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Observation d050e259-3221-41ec-8eb3-7b472b02fc36 · outbound

This paper cites Dlr mirosurge: a versatile system for research in endoscopic telesurgery,.

Trajectory Divergence Horizon Decision for Reliable Dual-Arm Surgical Subtask Manipulation Dlr mirosurge: a versatile system for research in endoscopic telesurgery,

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T23:05:05.290789Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-14T06:32:32.682623+00:00.

Pith citing papers

No inbound Pith citation observations are available.