Paper Citation Record · LEDGER

MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

As of 17 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 39 inbound Pith citation observations for arXiv:2403.03174.

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

pith.paper-citation-record.v1
2403.03174 v3

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 39 of 39 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-16T06:30:59.297886+00:00

measured 39 of 39 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-16T10:49:09.104480Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T20:00:08.785405Z

Reference resolution

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verified exact0
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External citation measurements

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Outbound references

No outbound reference observations are available for this paper version.

Pith citing papers

Observation 4a855b31-2453-4ead-b11a-b502fea6b2a4 · inbound

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation cites this paper.

ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 100

Resolution: verified exact; arxiv_id, observed 2026-05-16T08:25:17.941876Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation fc0227fd-61aa-4c26-b1c6-85c7addf992e · inbound

TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies cites this paper.

TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 86

Resolution: verified exact; arxiv_id, observed 2026-05-15T18:27:22.968023Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation ff3e2a0e-6e33-4f9f-b74d-f44a482a95b6 · inbound

MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress cites this paper.

MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-09T11:19:45.822092Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 115d7d53-2458-4a53-b8d6-3695271faf19 · inbound

RoboGrasp: A Universal Grasping Policy for Robust Robotic Control cites this paper.

RoboGrasp: A Universal Grasping Policy for Robust Robotic Control MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 2020

Resolution: unresolved; no resolver link, observed 2026-08-09T06:05:09.928775Z

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Observation 8892c62c-f0fb-4578-9e79-6e293228ce01 · inbound

A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards cites this paper.

A Real-to-Sim-to-Real Approach to Robotic Manipulation with VLM-Generated Iterative Keypoint Rewards MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-08T00:03:16.349095Z

Source-reported events for the cited work

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Observation 76c6d6d4-50be-4e9c-be2b-248f553a2e39 · inbound

Cracking the Code of Action: a Generative Approach to Affordances for Reinforcement Learning cites this paper.

Cracking the Code of Action: a Generative Approach to Affordances for Reinforcement Learning MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-16T10:49:09.104480Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation aa80f1ee-6a72-4075-859c-8c726fe4085e · inbound

Robotic Visual Instruction cites this paper.

Robotic Visual Instruction MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-16T04:40:34.053346Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 89dbd810-b2e4-4125-9901-5c6ff8836cc2 · inbound

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation cites this paper.

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-16T01:07:35.278351Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f986451d-002c-4290-962f-fde360a35915 · inbound

Efficient Sensorimotor Learning for Open-world Robot Manipulation cites this paper.

Efficient Sensorimotor Learning for Open-world Robot Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T23:27:51.270828Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a5c7c312-0692-4099-b382-61e7a69edf7c · inbound

GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation cites this paper.

GraspMolmo: Generalizable Task-Oriented Grasping via Large-Scale Synthetic Data Generation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-15T20:18:08.125054Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 43262cf5-9411-49a1-80ad-f14fc1157355 · inbound

Spatial RoboGrasp: Generalized Robotic Grasping Control Policy cites this paper.

Spatial RoboGrasp: Generalized Robotic Grasping Control Policy MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-07T13:53:43.501346Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 95c3523d-ead9-4f75-98b5-12ad20117606 · inbound

Seeing is Not Reasoning: MVPBench for Graph-based Evaluation of Multi-path Visual Physical CoT cites this paper.

Seeing is Not Reasoning: MVPBench for Graph-based Evaluation of Multi-path Visual Physical CoT MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-07T12:36:19.820855Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 094e848f-e007-4bf2-a841-b7ed10906f90 · inbound

Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization cites this paper.

Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-07T06:04:15.276212Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9650ecbe-c9d9-45a7-b74f-d7da9e6b17ae · inbound

UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation cites this paper.

UAD: Unsupervised Affordance Distillation for Generalization in Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 92

Resolution: unresolved; no resolver link, observed 2026-08-07T04:58:53.781859Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0995f4d2-9675-4051-aa11-6111ba485dad · inbound

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity cites this paper.

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 65

Resolution: unresolved; no resolver link, observed 2026-08-15T19:31:53.451421Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 995d07c8-f01e-4779-be89-6c9c304d5a5a · inbound

T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Models cites this paper.

T-Rex: Task-Adaptive Spatial Representation Extraction for Robotic Manipulation with Vision-Language Models MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-06T23:12:03.958565Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2ddfb630-de15-4416-8d12-ad5a1b39d3b3 · inbound

FrankenBot: Brain-Morphic Modular Orchestration for Robotic Manipulation with Vision-Language Models cites this paper.

FrankenBot: Brain-Morphic Modular Orchestration for Robotic Manipulation with Vision-Language Models MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-15T18:33:40.883770Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 74023515-42d8-4be4-8511-4a93a9baac0f · inbound

VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation cites this paper.

VLM-TDP: VLM-guided Trajectory-conditioned Diffusion Policy for Robust Long-Horizon Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-06T19:51:07.782808Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ca4f6afa-e5e0-4b11-a214-8e62f62b0100 · inbound

Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation cites this paper.

Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-05-18T22:06:51.674327Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation bccd2a3b-b589-48f2-b73b-ef540b2d77d5 · inbound

OpenTie: Open-vocabulary Sequential Rebar Tying System cites this paper.

OpenTie: Open-vocabulary Sequential Rebar Tying System MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-05T16:19:19.201521Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation eee516b4-84db-4d91-9403-f353d9ad7dfd · inbound

EVE: A Generator-Verifier System for Generative Policies cites this paper.

EVE: A Generator-Verifier System for Generative Policies MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-03T14:10:36.218063Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1ed62a5e-d5d4-46cb-8adc-3fa9701fe4f7 · inbound

PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation cites this paper.

PALM: Progress-Aware Policy Learning via Affordance Reasoning for Long-Horizon Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 78

Resolution: verified exact; arxiv_id, observed 2026-05-16T15:08:01.911789Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation de91a1d2-1406-4bc0-b2a1-fb0916b17d49 · inbound

PLanAR: Planning-Language-Grounded Agentic Reasoning for Robot Manipulation cites this paper.

PLanAR: Planning-Language-Grounded Agentic Reasoning for Robot Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-03T05:38:49.093878Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 28ec4b44-a3fc-4367-9533-4df0cc244c2d · inbound

Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation cites this paper.

Semantic-Contact Fields for Category-Level Generalizable Tactile Tool Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-05-15T22:20:22.585023Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 77c735a2-3bc1-42e5-af9e-9eacecdd2a28 · inbound

From Video to Control: A Survey of Learning Manipulation Interfaces from Temporal Visual Data cites this paper.

From Video to Control: A Survey of Learning Manipulation Interfaces from Temporal Visual Data MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 59

Resolution: metadata mismatch; arxiv_id, observed 2026-05-13T17:03:01.075053Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 6463e081-be8d-498c-8b2a-6796d468cb1e · inbound

KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis cites this paper.

KITE: Keyframe-Indexed Tokenized Evidence for VLM-Based Robot Failure Analysis MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 6

Resolution: verified exact; arxiv_id, observed 2026-05-10T23:55:51.539590Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation e9266208-d174-495a-af0c-15d001362215 · inbound

V-CAGE: Vision-Closed-Loop Agentic Generation Engine for Robotic Manipulation cites this paper.

V-CAGE: Vision-Closed-Loop Agentic Generation Engine for Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-05-11T05:21:07.183897Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation aabc33dc-49aa-48fc-b644-1c819a516b89 · inbound

TriRelVLA: Triadic Relational Structure for Generalizable Embodied Manipulation cites this paper.

TriRelVLA: Triadic Relational Structure for Generalizable Embodied Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 11

Resolution: verified exact; arxiv_id, observed 2026-05-11T18:36:09.155842Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 0550e55b-2472-465c-9ea9-907576062e07 · inbound

SEVO: Semantic-Enhanced Virtual Observation for Robust VLA Manipulation via Active Illumination and Data-Centric Collection cites this paper.

SEVO: Semantic-Enhanced Virtual Observation for Robust VLA Manipulation via Active Illumination and Data-Centric Collection MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-05-13T02:52:08.754380Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 2d9ef582-5469-455b-b21f-629a6c73ea26 · inbound

Point Tracking Improves World Action Models cites this paper.

Point Tracking Improves World Action Models MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 54

Resolution: verified exact; arxiv_id, observed 2026-05-25T03:56:37.187978Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 01c80763-45c7-452d-9848-01e6dcfcc6a2 · inbound

Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance cites this paper.

Afford-VLA: Action-Aligned Visual Planning via Internalized Affordance MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 20

Resolution: verified exact; arxiv_id, observed 2026-06-30T15:44:48.571710Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation dfea2e90-9106-4adb-bd0f-5df94bc1766b · inbound

MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models cites this paper.

MaskWAM: Unifying Mask Prompting and Prediction for World-Action Models MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 34

Resolution: verified exact; arxiv_id, observed 2026-07-03T14:48:32.868635Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 3b40a10e-06a2-4d43-a32f-3d03a5a6df33 · inbound

ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning cites this paper.

ZeroDex: Zero-Shot Long-Horizon Dexterous Manipulation via Multi-View 3D-Grounded VLM Reasoning MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 30

Resolution: verified exact; arxiv_id, observed 2026-07-04T00:59:20.328635Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation b494994f-5b64-490a-83d1-679d2b2239d6 · inbound

USS: Unified Spatial-Semantic Prompts for Embodied Visual Tracking with Latent Dynamics Learning cites this paper.

USS: Unified Spatial-Semantic Prompts for Embodied Visual Tracking with Latent Dynamics Learning MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 7

Resolution: verified exact; arxiv_id, observed 2026-07-04T20:00:08.787191Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 20de0d44-4b94-4c9e-914c-05cce611c853 · inbound

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation cites this paper.

RelAfford6D: Relational 6D Affordance Graphs for Constraint-Driven Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 22

Resolution: metadata mismatch; arxiv_id, observed 2026-07-04T13:29:51.413592Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 23830c63-b404-49ae-a7b2-eb9f3a09dc6d · inbound

Sequential Planning via Anchored Robotic Keypoints cites this paper.

Sequential Planning via Anchored Robotic Keypoints MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-06-30T05:04:20.367495Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-16T06:30:59.297886+00:00.

Observation 67f4aef3-49aa-474a-b46c-3cfbeabb32d6 · inbound

IMBench: A Benchmark for Intuitive Robotic Manipulation cites this paper.

IMBench: A Benchmark for Intuitive Robotic Manipulation MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 74

Resolution: unresolved; no resolver link, observed 2026-08-01T22:45:13.788204Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 42036396-7788-4a70-b4fb-238c88b7d7dc · inbound

World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models cites this paper.

World Action Planner: Generalizable Decision-Making with Action-Conditioned World Models MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-01T04:59:35.364563Z

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Unavailable: canonical work link unavailable.

Observation 6a466ea4-dba8-4f78-9bf0-0b99d2b1d700 · inbound

Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills cites this paper.

Weights or Skills? A Survey of Robot-Learning Techniques: from Action-Predicting Weights to Robots that Write their Own Skills MOKA: Open-World Robotic Manipulation through Mark-Based Visual Prompting

Reference 150

Resolution: unresolved; no resolver link, observed 2026-08-04T19:45:34.940655Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.