Paper Citation Record · LEDGER

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation

As of 23 August 2026, this Paper Citation Record lists 50 of 50 outbound references and 1 inbound Pith citation observation for arXiv:2506.09422.

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

pith.paper-citation-record.v1
2506.09422 v1

Coverage vector

measured 50 of 50 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T04:56:52.605656Z

measured 51 of 51 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-23T06:30:58.430688+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T14:57:07.244102Z

measured 0 of 1 external citation measurements

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

Source: pith, observed 2026-08-15T14:57:08.421256Z

Reference resolution

50 of 50 outbound references displayed

verified exact0
verified fuzzy20
unresolved30
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation c95bc47e-7b58-484f-a0dc-048eb1d76418 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 1

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.479374Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 2e329af1-cdac-4397-8c4c-e50e6f7a94ec · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 2

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.470798Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f990c631-970b-4fbc-8039-407346c328b9 · outbound

This paper cites DNAct: Diffusion Guided Multi-Task 3D Policy Learning.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation DNAct: Diffusion Guided Multi-Task 3D Policy Learning

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:47.968879Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d500a02b-333c-4d17-8330-8c47932a2eda · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 4

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.461967Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 142a8f7e-26f5-497f-80f5-05687ab78ebb · outbound

This paper cites ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:48.104493Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 04c475fd-9f86-4fec-9fb6-b1a3f5467677 · outbound

This paper cites Zhang, Z.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Zhang, Z

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.451830Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 07691759-2e32-40fe-88c9-e37f1c2b3ac5 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:48.198883Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cbc71774-872b-4b7d-addd-a67730fb523c · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 8

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.438511Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a5358f69-506a-4fea-8fdc-b1f1a83bce99 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 9

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.430604Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 894f20a0-fee2-4865-996d-f4b5227a83cb · outbound

This paper cites Dockhorn, A.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Dockhorn, A

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.423404Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f9fc0a14-bb96-4366-954c-107ff7ac6c54 · outbound

This paper cites Gotta Go Fast When Generating Data with Score-Based Models.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Gotta Go Fast When Generating Data with Score-Based Models

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:48.488230Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1af6170c-6e95-4d26-aee9-80366887635c · outbound

This paper cites Rombach, A.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Rombach, A

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.416103Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 6c6393f4-eb2f-4a31-a6a7-39a524ed17b0 · outbound

This paper cites Vahdat, K.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Vahdat, K

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.408162Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 4994e2f7-698e-4630-8153-29b47dd08b80 · outbound

This paper cites Davtyan, S.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Davtyan, S

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.400234Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 91d2ca02-157e-48b3-b9ce-65addb04aa38 · outbound

This paper cites Bansal, E.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Bansal, E

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.393006Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation f54a7d6d-4fed-456a-b3d1-297b51f1e1c2 · outbound

This paper cites Flow Matching for Generative Modeling.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Flow Matching for Generative Modeling

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:48.994059Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73a2a0c3-249b-4d00-9c12-cd05d58b26f7 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 17

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.384811Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation e74c1091-0659-416a-aa36-244fa4b03b62 · outbound

This paper cites Zhang, H.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Zhang, H

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.377788Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation cfde90ae-e97a-405d-aa28-a5290ee27bd7 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 19

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.369667Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 20ec010d-16f9-4046-995a-8b25f119b7fa · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 20

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.362702Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 7b51bf23-1b12-4a77-82c7-1ead8bb59c1f · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 21

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.355425Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation dc40e4ba-c8c1-41f2-984a-f09cf400d67a · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 22

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.348007Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation e309c8d8-5362-446e-895a-0d8cccad82ef · outbound

This paper cites Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:49.843944Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f4d8231f-5316-431e-83aa-1dbc4c0a391e · outbound

This paper cites Blukis, Y.-W.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Blukis, Y.-W

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.340613Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 41bf21e7-e03f-4468-a9a5-c6d8e1e094a2 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 25

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.332778Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation d534f560-9aaf-4aa1-82a8-67d19e761a23 · outbound

This paper cites Tsurumine, T.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Tsurumine, T

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.325197Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 7352c30c-2446-4221-b981-9df8ec0d329b · outbound

This paper cites Florence, C.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Florence, C

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.317621Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 49a8303b-dfeb-43dd-ac3a-a3efd1f2c434 · outbound

This paper cites Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Conditional Energy-Based Models for Implicit Policies: The Gap between Theory and Practice

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:50.364722Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 08d729c2-9299-4905-aaf1-ad8af83e0810 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 29

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.310104Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation d24d8760-a505-4e22-ae1e-690fcc5d8095 · outbound

This paper cites Urain, N.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Urain, N

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.302786Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation cc31be66-b09f-49d5-8171-2ef2d0ceccf6 · outbound

This paper cites Pearce, T.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Pearce, T

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.295446Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 90715bb4-8a0c-47ff-8911-66c476ec294e · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 32

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.288164Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 1571f5d7-d6c8-4b58-aa5b-e330d5cd3d85 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 33

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.281178Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 933984ca-4fb8-48bf-a1f0-8116600a1128 · outbound

This paper cites Diffusion Policy: Visuomotor Policy Learning via Action Diffusion.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:50.837745Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 198c9804-062c-4d13-b163-67a55e4156fc · outbound

This paper cites 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation 3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:50.937728Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6332c596-ded7-4c97-81b2-0ac01b04bd35 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 36

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.273689Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 00492648-1582-49b5-9ce9-3e3dba7c074a · outbound

This paper cites Driess, I.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Driess, I

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.265924Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 731ac6bb-cf9f-43af-9b42-7494b29f31fc · outbound

This paper cites Chisari, N.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Chisari, N

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.257399Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation bb784b37-4f24-4554-9a39-db121443c6ca · outbound

This paper cites ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:51.379247Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 008cb3b5-2da1-4a4f-966a-2550cd710a20 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 40

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:54.249429Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation da020d2b-cd4f-44d2-9b44-a7e5a9e37434 · outbound

This paper cites James, K.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation James, K

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:54.208540Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation cbcf4019-1617-4031-9f0b-962d8f8a4f67 · outbound

This paper cites James, Z.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation James, Z

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:53.997723Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation eb179785-fe22-4607-a1c8-4467c7242c65 · outbound

This paper cites Rohmer, S.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Rohmer, S

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:53.904693Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation d91b7bd4-2490-4712-babf-ae9603276a6b · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 44

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:53.692880Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 369ad6ac-e914-4837-a960-d53ef427012e · outbound

This paper cites Guhur, S.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Guhur, S

Reference 45

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:53.449779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 4b5347f3-d3f3-41c6-beac-2bbfac0c281e · outbound

This paper cites Shridhar, L.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Shridhar, L

Reference 46

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:53.250515Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 2fdb2b00-2783-4403-891d-50ef8389888c · outbound

This paper cites Gervet, Z.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Gervet, Z

Reference 47

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T04:56:53.060274Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation ef6faf59-d5d0-455e-ae1e-e3fbbccf8597 · outbound

This paper cites RVT-2: Learning Precise Manipulation from Few Demonstrations.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation RVT-2: Learning Precise Manipulation from Few Demonstrations

Reference 48

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:52.346905Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fcea952d-be7b-434d-ae17-2c82e4cb00f6 · outbound

This paper cites an unresolved cited work.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Unresolved cited work

Reference 49

Resolution: unresolved; raw_fallback, observed 2026-08-07T04:56:52.884561Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 6ca2f9fe-ceab-4220-b9bd-c8e8f9514411 · outbound

This paper cites Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study.

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study

Reference 50

Resolution: unresolved; no resolver link, observed 2026-08-07T04:56:52.605656Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 6d71b46e-fa3d-456b-bc7e-01a7ac4e8e57 · inbound

A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces cites this paper.

A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation

Reference 34

Resolution: verified exact; local_arxiv, observed 2026-08-15T14:57:08.427008Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.