Paper Citation Record · LEDGER

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline

As of 22 August 2026, this Paper Citation Record lists 36 of 36 outbound references and 0 inbound Pith citation observations for arXiv:2504.14709.

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

pith.paper-citation-record.v1
2504.14709 v1

Coverage vector

measured 36 of 36 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-16T11:46:50.936403Z

measured 36 of 36 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-22T06:32:14.747728+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

36 of 36 outbound references displayed

verified exact1
verified fuzzy18
unresolved17
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 3a38a9cd-555c-4916-a86f-6d91e0f0c32a · outbound

This paper cites NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.772961Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e87d9b69-10bf-4553-bf5d-f1b49083da95 · outbound

This paper cites Parting with misconceptions about learning-based vehicle motion planning,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Parting with misconceptions about learning-based vehicle motion planning,

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.448284Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 9571abee-7843-465a-a38a-e18bcb4370ba · outbound

This paper cites Planning- oriented autonomous driving,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Planning- oriented autonomous driving,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.433645Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 403ee249-6358-4c8b-817d-9ee4a07ca42c · outbound

This paper cites End-to-end autonomous driving: Challenges and frontiers,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline End-to-end autonomous driving: Challenges and frontiers,

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.787279Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e04c60fb-744a-4f74-a77f-0275961a8d4f · outbound

This paper cites Efficient sampling-based motion planning for on-road autonomous driving,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Efficient sampling-based motion planning for on-road autonomous driving,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.792247Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation be558be2-91de-4569-9507-cd2e48df65c1 · outbound

This paper cites Shortcut learning in deep neural networks,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Shortcut learning in deep neural networks,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.797050Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3bccde2b-b36b-4be3-852f-164547df6573 · outbound

This paper cites Is ego status all you need for open-loop end-to-end autonomous driving?.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Is ego status all you need for open-loop end-to-end autonomous driving?

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.802106Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 53751eab-6ef9-4ef0-907a-f20b5f7346c5 · outbound

This paper cites Fighting copycat agents in behavioral cloning from observation histories,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Fighting copycat agents in behavioral cloning from observation histories,

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.383307Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 489e81ab-bdc4-4825-b236-415004fa1234 · outbound

This paper cites Resolving copycat problems in visual imitation learning via residual action prediction,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Resolving copycat problems in visual imitation learning via residual action prediction,

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.368381Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation fff9c254-eaff-47de-a85a-be9a0a5f3ef3 · outbound

This paper cites Waymo open dataset,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Waymo open dataset,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.353223Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation d97f7bf9-e317-4d65-aa7f-3ac378c8b6f0 · outbound

This paper cites Motion transformer with global intention localization and local movement refinement,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Motion transformer with global intention localization and local movement refinement,

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.819359Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4677f6f3-90d9-4359-bfd5-ad0f5614b791 · outbound

This paper cites Mtr++: Multi-agent motion prediction with symmetric scene modeling and guided intention query- ing,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Mtr++: Multi-agent motion prediction with symmetric scene modeling and guided intention query- ing,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.329229Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation d2d5e1d5-196a-45bc-ac30-2f6e140867a3 · outbound

This paper cites End to end learning for self-driving cars.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline End to end learning for self-driving cars

Reference 13

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.314679Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 09b086b7-7beb-44f6-8d88-d4e5b204687a · outbound

This paper cites End-to-end driving via conditional imitation learning,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline End-to-end driving via conditional imitation learning,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.832952Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1e240882-eac4-4234-925c-c27e84212684 · outbound

This paper cites Vad: Vectorized scene representation for efficient autonomous driving,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Vad: Vectorized scene representation for efficient autonomous driving,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.837209Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 01f43ec0-a262-4b60-949f-2a448c378ba8 · outbound

This paper cites Controlling an autonomous vehicle with deep reinforcement learning,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Controlling an autonomous vehicle with deep reinforcement learning,

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.282070Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 07b98a0c-8afd-4c47-bce9-622173f4c458 · outbound

This paper cites Proximal Policy Optimization Algorithms.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Proximal Policy Optimization Algorithms

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.846872Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23a7da34-5a6b-409d-ba4d-40cc63533cab · outbound

This paper cites Deep Reinforcement Learning for Autonomous Driving.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Deep Reinforcement Learning for Autonomous Driving

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.851517Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0851f3db-4d0c-46ce-8035-e9cbb63f887d · outbound

This paper cites Highway decision-making and motion planning for autonomous driving via soft actor-critic,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Highway decision-making and motion planning for autonomous driving via soft actor-critic,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.268009Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 513db5dc-1335-4668-a7e4-51c001869df8 · outbound

This paper cites Soft Actor-Critic Algorithms and Applications.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Soft Actor-Critic Algorithms and Applications

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.861523Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 875aa410-2bfc-4933-93cc-345635543e8c · outbound

This paper cites Congested traffic states in empirical observations and microscopic simulations,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Congested traffic states in empirical observations and microscopic simulations,

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.866139Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4377ffc5-e684-4552-b1cc-6852485aed4a · outbound

This paper cites Imitation is not enough: Ro- bustifying imitation with reinforcement learning for challenging driving scenarios,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Imitation is not enough: Ro- bustifying imitation with reinforcement learning for challenging driving scenarios,

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.870686Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 85f58de6-4493-43ec-b94c-5a7e7763670a · outbound

This paper cites Efficient deep reinforcement learning with imitative expert priors for autonomous driving,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Efficient deep reinforcement learning with imitative expert priors for autonomous driving,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.234294Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 20d1d2a2-f459-4eae-988a-b2a33411fa5e · outbound

This paper cites CIMRL: Combining IMitation and Reinforcement Learning for Safe Autonomous Driving.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline CIMRL: Combining IMitation and Reinforcement Learning for Safe Autonomous Driving

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.879654Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6634524e-c6b2-44b3-abb5-22d5131ffc90 · outbound

This paper cites ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worst

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.884468Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 23c73426-a99e-43b2-9985-37fdecd3b143 · outbound

This paper cites Regularized behavior cloning for blocking the leakage of past action information,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Regularized behavior cloning for blocking the leakage of past action information,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.219891Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 4c9a423a-9dcd-47e6-81a2-6ad31498a09d · outbound

This paper cites Opendrive 2010 and beyond–status and future of the de facto standard for the description of road networks,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Opendrive 2010 and beyond–status and future of the de facto standard for the description of road networks,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.204996Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 42ea5c68-c004-471b-bbdc-d6df85fe83a3 · outbound

This paper cites Waymax: An accelerated, data-driven simulator for large-scale autonomous driving research,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Waymax: An accelerated, data-driven simulator for large-scale autonomous driving research,

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.188832Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 79b3bacb-f059-48ca-9846-4cf59dcaecb0 · outbound

This paper cites Smarts: An open-source scalable multi-agent rl training school for autonomous driving,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Smarts: An open-source scalable multi-agent rl training school for autonomous driving,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.173834Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation a38a435e-e8c7-4dd3-8164-5e07c4abda5d · outbound

This paper cites Metadrive: Composing diverse driving scenarios for generalizable reinforcement learning,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Metadrive: Composing diverse driving scenarios for generalizable reinforcement learning,

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.907377Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3c943e7d-cd26-4978-8b81-0bb8b1cb4424 · outbound

This paper cites Intersim: Interactive traffic simulation via explicit relation modeling,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Intersim: Interactive traffic simulation via explicit relation modeling,

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.149817Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation ef6edc6b-dd5f-4bb8-844c-1416904545b0 · outbound

This paper cites Bits: Bi-level imitation for traffic simulation,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Bits: Bi-level imitation for traffic simulation,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-16T11:46:50.916624Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cc2362c3-e65e-4c56-b67c-b22f401dcb86 · outbound

This paper cites Tactics2D: A Highly Modular and Extensible Simulator for Driving Decision-making.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Tactics2D: A Highly Modular and Extensible Simulator for Driving Decision-making

Reference 33

Resolution: verified exact; local_arxiv, observed 2026-08-16T11:46:50.981529Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation a41ab76a-ddcd-4209-a666-c2e8a7797195 · outbound

This paper cites The kinematic bicycle model: A consistent model for planning feasible trajectories for autonomous vehicles?.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline The kinematic bicycle model: A consistent model for planning feasible trajectories for autonomous vehicles?

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.124374Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation a56c9ce4-64e1-4a17-a920-e5be7912f93b · outbound

This paper cites The waymo open sim agents challenge,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline The waymo open sim agents challenge,

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.107942Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Observation 19a59452-bdaa-4819-81cd-8f0ddb1510be · outbound

This paper cites Causalagents: A robustness benchmark for motion forecasting,.

Exposing the Copycat Problem of Imitation-based Planner: A Novel Closed-Loop Simulator, Causal Benchmark and Joint IL-RL Baseline Causalagents: A robustness benchmark for motion forecasting,

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-16T11:46:51.091434Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-22T06:32:14.747728+00:00.

Pith citing papers

No inbound Pith citation observations are available.