Paper Citation Record · LEDGER

Feel the Force: Contact-Driven Learning from Humans

As of 21 August 2026, this Paper Citation Record lists 35 of 35 outbound references and 5 inbound Pith citation observations for arXiv:2506.01944.

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

pith.paper-citation-record.v1
2506.01944 v1

Coverage vector

measured 35 of 35 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T11:37:14.912505Z

measured 40 of 40 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-21T06:32:19.484+00:00

measured 5 of 5 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-11T23:04:20.187619Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-07-04T21:00:09.163063Z

Reference resolution

35 of 35 outbound references displayed

verified exact2
verified fuzzy3
unresolved29
parse uncertain0
malformed identifier0
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation ac3b3755-f6dc-4bd3-a67f-5156c4bdd8ff · outbound

This paper cites Towards Forceful Robotic Foundation Models: a Literature Survey.

Feel the Force: Contact-Driven Learning from Humans Towards Forceful Robotic Foundation Models: a Literature Survey

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.356689Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ac6f025e-9540-48ae-97f5-04f071906472 · outbound

This paper cites The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning.

Feel the Force: Contact-Driven Learning from Humans The Power of the Senses: Generalizable Manipulation from Vision and Touch through Masked Multimodal Learning

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.407437Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8d4a1afb-4825-465d-b903-458c8ddcf9d3 · outbound

This paper cites Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins.

Feel the Force: Contact-Driven Learning from Humans Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.460060Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0165cf21-8d70-459a-90de-670a335bd095 · outbound

This paper cites DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset.

Feel the Force: Contact-Driven Learning from Humans DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.545549Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e243a4f0-688c-41f0-a61a-848933a4cedc · outbound

This paper cites ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface.

Feel the Force: Contact-Driven Learning from Humans ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.623724Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8beacab3-a3ee-4175-aae9-02600bf1c210 · outbound

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

Feel the Force: Contact-Driven Learning from Humans Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.703202Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 20f288a1-c887-48b7-b3ee-be9cc488ceee · outbound

This paper cites DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation.

Feel the Force: Contact-Driven Learning from Humans DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.757030Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 33c9b9f3-f2d5-4f1d-81e5-632d6669661e · outbound

This paper cites MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation.

Feel the Force: Contact-Driven Learning from Humans MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:12.838359Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fd49d255-f353-4cee-bc30-dec536f34f74 · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 9

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:37:16.692551Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation d0e86f79-3333-4126-a049-aa5386de6051 · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 10

Resolution: verified exact; doi, observed 2026-08-07T11:37:15.102455Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 2e253179-5e78-441a-a001-c04526e84ecf · outbound

This paper cites Lambeta, P.-W.

Feel the Force: Contact-Driven Learning from Humans Lambeta, P.-W

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:13.075047Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b846be5c-2951-4cc4-90a0-4387eb7d5912 · outbound

This paper cites The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?.

Feel the Force: Contact-Driven Learning from Humans The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes?

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:13.150627Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d793849a-d3b4-4d98-b28c-735f764d3af6 · outbound

This paper cites Veiga, H.

Feel the Force: Contact-Driven Learning from Humans Veiga, H

Reference 13

Resolution: metadata mismatch; raw_fallback, observed 2026-08-07T11:37:15.714720Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 84ce6049-82ec-4c66-8c78-0bfabd18f01a · outbound

This paper cites In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion.

Feel the Force: Contact-Driven Learning from Humans In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion

Reference 14

Resolution: verified exact; local_arxiv, observed 2026-08-07T11:37:15.447095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation db473373-e3eb-45a3-ac49-bd9e6ec351e4 · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 15

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:37:16.583741Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation b1ac6016-cb01-4371-83cc-270961a06dd1 · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:37:16.491265Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 6bd48370-ef5e-48bc-aaaf-64f86f378539 · outbound

This paper cites Dasari and A.

Feel the Force: Contact-Driven Learning from Humans Dasari and A

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:37:16.389997Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 200c8835-6fc9-4d72-a7d0-d5dd725e3035 · outbound

This paper cites Jain and C.

Feel the Force: Contact-Driven Learning from Humans Jain and C

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:37:16.283336Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 86215de7-370b-47c9-adaa-0b3fb9f805cf · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 20

Resolution: unresolved; raw_fallback, observed 2026-08-07T11:37:16.177226Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 8b5166bb-ba8a-4b08-9648-1fa149e9315f · outbound

This paper cites Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards.

Feel the Force: Contact-Driven Learning from Humans Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:13.807493Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7bdbd992-a40c-4fe3-9c29-82e0d6c98669 · outbound

This paper cites Human-to-Robot Imitation in the Wild.

Feel the Force: Contact-Driven Learning from Humans Human-to-Robot Imitation in the Wild

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:13.978629Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7a8f8059-c6a7-4c08-8fe0-95851940eaff · outbound

This paper cites Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots.

Feel the Force: Contact-Driven Learning from Humans Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.070088Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 347f148b-d59b-4297-9b0f-e6600f32351a · outbound

This paper cites On Bringing Robots Home.

Feel the Force: Contact-Driven Learning from Humans On Bringing Robots Home

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.135607Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8d8dcd4f-6684-41ef-bcae-a3ceb96533a9 · outbound

This paper cites Haldar, Z.

Feel the Force: Contact-Driven Learning from Humans Haldar, Z

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T11:37:16.057088Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 314e1830-e306-4c1e-a1e3-b35f0a614288 · outbound

This paper cites Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation.

Feel the Force: Contact-Driven Learning from Humans Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.357270Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b907e3d5-e1cc-4b93-83cc-e3375e4b869c · outbound

This paper cites AnySkin: Plug-and-play Skin Sensing for Robotic Touch.

Feel the Force: Contact-Driven Learning from Humans AnySkin: Plug-and-play Skin Sensing for Robotic Touch

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.389203Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 963c1e18-4a85-46d9-9551-122da957c255 · outbound

This paper cites MediaPipe: A Framework for Building Perception Pipelines.

Feel the Force: Contact-Driven Learning from Humans MediaPipe: A Framework for Building Perception Pipelines

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.509708Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 95cdd377-e5ca-410b-a6de-49e6cb83d0ba · outbound

This paper cites P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies.

Feel the Force: Contact-Driven Learning from Humans P3-PO: Prescriptive Point Priors for Visuo-Spatial Generalization of Robot Policies

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.554872Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a4d22a5b-09b2-409e-86ae-8ba90248c3b7 · outbound

This paper cites Emergent Correspondence from Image Diffusion.

Feel the Force: Contact-Driven Learning from Humans Emergent Correspondence from Image Diffusion

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.625196Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 94172ff9-7394-4ee3-a6c5-695b6ae06ce0 · outbound

This paper cites CoTracker: It is Better to Track Together.

Feel the Force: Contact-Driven Learning from Humans CoTracker: It is Better to Track Together

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.666609Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 12de1bc8-5425-4ece-8d48-6df2700018f4 · outbound

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

Feel the Force: Contact-Driven Learning from Humans Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.758463Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 949c16cf-86aa-4354-a382-c3e4143bab4a · outbound

This paper cites an unresolved cited work.

Feel the Force: Contact-Driven Learning from Humans Unresolved cited work

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.837938Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6bc18268-6d49-4c70-ab1d-8cf75ba27a86 · outbound

This paper cites On the Continuity of Rotation Representations in Neural Networks.

Feel the Force: Contact-Driven Learning from Humans On the Continuity of Rotation Representations in Neural Networks

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.912505Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ef83bb25-6b12-4abf-83c7-6a1e94322c29 · outbound

This paper cites Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation.

Feel the Force: Contact-Driven Learning from Humans Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation

Reference 2017

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:13.556171Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 363b9ffd-4ac6-4eed-8fe9-46ebfb4e660b · outbound

This paper cites BAKU: An Efficient Transformer for Multi-Task Policy Learning.

Feel the Force: Contact-Driven Learning from Humans BAKU: An Efficient Transformer for Multi-Task Policy Learning

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-07T11:37:14.305665Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation ab801c27-8482-4005-90ce-4c67bda3ef34 · inbound

Physically Guided Visual Mass Estimation from a Single RGB Image cites this paper.

Physically Guided Visual Mass Estimation from a Single RGB Image Feel the Force: Contact-Driven Learning from Humans

Reference 1

Resolution: verified exact; arxiv_id, observed 2026-05-16T11:00:51.768457Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation de025b8d-f69b-4569-8053-2074cd4668fe · inbound

Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models cites this paper.

Modular Sensory Stream for Integrating Physical Feedback in Vision-Language-Action Models Feel the Force: Contact-Driven Learning from Humans

Reference 1

Resolution: verified exact; arxiv_id, observed 2026-05-11T20:41:14.491000Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 25b38876-4f57-4752-aaf6-9fc6cee15275 · inbound

ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching cites this paper.

ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matching Feel the Force: Contact-Driven Learning from Humans

Reference 35

Resolution: verified exact; arxiv_id, observed 2026-05-13T00:57:01.248338Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation 7d1a89bb-13cc-47ff-bd88-8717e242e9a6 · inbound

ForceBand: Learning Forceful Manipulation with sEMG cites this paper.

ForceBand: Learning Forceful Manipulation with sEMG Feel the Force: Contact-Driven Learning from Humans

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-07-04T21:00:09.164737Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-21T06:32:19.484+00:00.

Observation d082af51-e063-4e01-9498-1be8d6f39f79 · inbound

High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing cites this paper.

High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing Feel the Force: Contact-Driven Learning from Humans

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-11T23:04:20.187619Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.