Paper Citation Record · LEDGER

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics

As of 19 August 2026, this Paper Citation Record lists 41 of 41 outbound references and 1 inbound Pith citation observation for arXiv:2505.11494.

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

pith.paper-citation-record.v1
2505.11494 v3

Coverage vector

measured 41 of 41 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T20:57:31.528963Z

measured 42 of 42 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-19T06:32:44.657259+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-05-10T17:34:10.942429Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-11T06:36:03.206857Z

Reference resolution

41 of 41 outbound references displayed

verified exact0
verified fuzzy17
unresolved24
parse uncertain0
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External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 9b6d0041-48d2-4977-8aff-8f7a804bf689 · outbound

This paper cites Learning agile and dynamic motor skills for legged robots,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Learning agile and dynamic motor skills for legged robots,

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:32.032577Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 80b802ea-36f2-4784-b3ca-a00ac37a5a7e · outbound

This paper cites Learning quadrupedal locomotion over challenging terrain,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Learning quadrupedal locomotion over challenging terrain,

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.359463Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d06a67f6-4a7c-48ff-9ec7-3f10c53d37fe · outbound

This paper cites Genloco: Generalized locomotion controllers for quadrupedal robots,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Genloco: Generalized locomotion controllers for quadrupedal robots,

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:32.009937Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 36f6e3fd-a427-4371-9f58-d88c672a8e33 · outbound

This paper cites Berkeley Humanoid: A Research Platform for Learning-based Control.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Berkeley Humanoid: A Research Platform for Learning-based Control

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.368360Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 18ba1928-bfb1-4a30-a6ed-d1c85821a48d · outbound

This paper cites Learning robust perceptive locomotion for quadrupedal robots in the wild,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Learning robust perceptive locomotion for quadrupedal robots in the wild,

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.373175Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c2f12ef6-8537-4e56-ab37-4d5782d59270 · outbound

This paper cites Real-world humanoid locomotion with reinforcement learning,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Real-world humanoid locomotion with reinforcement learning,

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.377717Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 61157ede-b9ad-44e5-b8be-61cee418ef4f · outbound

This paper cites MuJoCo Playground.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics MuJoCo Playground

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.382654Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 783d40c3-a391-40f2-abef-ec39953a84fa · outbound

This paper cites Humanoid Parkour Learning.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Humanoid Parkour Learning

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.387175Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1e384dbe-a1c7-413a-9ffd-6cb0573de58f · outbound

This paper cites Safe planning in dynamic environments using conformal prediction,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Safe planning in dynamic environments using conformal prediction,

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.391955Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 54a12af2-0c5d-4d0a-8e6a-cced017ffb5e · outbound

This paper cites Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Sample-based bounds for coherent risk measures: Applications to policy synthesis and verification,

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.969700Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 14f76de5-f8b7-404a-87c3-a027a2d932b4 · outbound

This paper cites Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.400600Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5244e120-7891-4c84-a17f-a9a5bac3a4a2 · outbound

This paper cites A time-dependent hamilton-jacobi formulation of reachable sets for continuous dynamic games,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics A time-dependent hamilton-jacobi formulation of reachable sets for continuous dynamic games,

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.956215Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ef0528f3-6b07-4eda-b303-fcb109f19303 · outbound

This paper cites Hamilton-jacobi reachability: A brief overview and recent advances,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Hamilton-jacobi reachability: A brief overview and recent advances,

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.409071Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8ebdbb31-3dfd-4554-b46c-d6dd770f2e99 · outbound

This paper cites Data-driven safety filters: Hamilton-jacobi reachability, control barrier functions, and predictive methods for uncertain systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Data-driven safety filters: Hamilton-jacobi reachability, control barrier functions, and predictive methods for uncertain systems,

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.412979Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4e489f5b-b70d-4746-8bf0-0b9e192b4501 · outbound

This paper cites Control barrier function based quadratic programs for safety critical systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Control barrier function based quadratic programs for safety critical systems,

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.417280Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2be699bc-1e1e-44e1-9d2d-4014f2be3c7b · outbound

This paper cites Control barrier functions: Theory and applications,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Control barrier functions: Theory and applications,

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.422355Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 11ed04bd-ed6d-404f-ab6e-ec9823743a32 · outbound

This paper cites Multi- layered safety for legged robots via control barrier functions and model predictive control,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Multi- layered safety for legged robots via control barrier functions and model predictive control,

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.906779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation e5b9978e-53df-4bf2-ab6c-e417bec123ce · outbound

This paper cites Episodic learning for safe bipedal locomotion with control barrier functions and projection-to-state safety,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Episodic learning for safe bipedal locomotion with control barrier functions and projection-to-state safety,

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.892961Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 65e95a25-a603-472a-bf30-ed10fb7d60d8 · outbound

This paper cites Model-free safety-critical control for robotic systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Model-free safety-critical control for robotic systems,

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.879269Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 619a04c2-ec45-40fb-a3a4-7e3b55b6a358 · outbound

This paper cites Safety-critical control for autonomous systems: Control barrier functions via reduced-order models,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Safety-critical control for autonomous systems: Control barrier functions via reduced-order models,

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.439640Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 49a3f1c8-f654-41ad-8c6e-a728d93a9f6a · outbound

This paper cites Control barrier functions for complete and incomplete information stochastic systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Control barrier functions for complete and incomplete information stochastic systems,

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.856937Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation d05c7ba1-9521-48fc-ae55-b22221868cc5 · outbound

This paper cites Robust safety under stochastic uncertainty with discrete-time control barrier functions,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Robust safety under stochastic uncertainty with discrete-time control barrier functions,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.842445Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation f16ef17b-dcf6-4fe2-8089-e82bc05ec5a3 · outbound

This paper cites Generative modeling of residuals for real-time risk-sensitive safety with discrete-time control barrier functions,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Generative modeling of residuals for real-time risk-sensitive safety with discrete-time control barrier functions,

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.828194Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation ec6fe3cc-a744-48b2-994f-530955bb9c3d · outbound

This paper cites Input- to-state stability in probability,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Input- to-state stability in probability,

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.457428Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d5f6233b-e6eb-4827-ab9f-fd559e8b87ca · outbound

This paper cites A barrier function approach to finite-time stochastic system verification and control,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics A barrier function approach to finite-time stochastic system verification and control,

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.461441Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4181eec0-b841-4e43-8896-dfcc7df8d27b · outbound

This paper cites Finite-time regional verification of stochastic non-linear systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Finite-time regional verification of stochastic non-linear systems,

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.465819Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 097be934-05a8-43f9-8fda-a4967a1bc823 · outbound

This paper cites Control barrier functions in sampled-data systems,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Control barrier functions in sampled-data systems,

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.786743Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 49b46a5d-0528-4f7f-a1b6-2e7e93a7c2bf · outbound

This paper cites Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation,

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.473902Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 542e3f3d-26a3-4d3c-a494-fe863b8f6b72 · outbound

This paper cites Bounding stochastic safety: Leveraging freedman’s inequality with discrete-time control barrier functions,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Bounding stochastic safety: Leveraging freedman’s inequality with discrete-time control barrier functions,

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.763686Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 1204b34e-25bd-439c-a848-749bd947ac78 · outbound

This paper cites Learning structured output representa- tion using deep conditional generative models,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Learning structured output representa- tion using deep conditional generative models,

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.749773Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation b0d32609-fb29-464e-9036-e5050a9870f8 · outbound

This paper cites Denoising diffusion probabilistic models,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Denoising diffusion probabilistic models,

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.487838Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 219f92cc-4d7b-4289-8d8d-a5b54e4ebe89 · outbound

This paper cites Flow matching for generative modeling,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Flow matching for generative modeling,

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.492226Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 36244319-0cee-41b4-882e-2d1a673f9158 · outbound

This paper cites Control barrier function based quadratic programs with application to adaptive cruise control,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Control barrier function based quadratic programs with application to adaptive cruise control,

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.496199Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e438500d-7791-4f1e-8004-1b4b3898ad17 · outbound

This paper cites Reference and command governors for systems with constraints: A survey on theory and applications,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Reference and command governors for systems with constraints: A survey on theory and applications,

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.500780Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5f02eecd-0631-4b22-933d-8fefc38f84a9 · outbound

This paper cites an unresolved cited work.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Unresolved cited work

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.505372Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5045ef07-a5b0-496d-adc1-f36e9ca9ad27 · outbound

This paper cites 3D is here: Point Cloud Library (PCL),.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics 3D is here: Point Cloud Library (PCL),

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.687617Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 0bfee86c-0b8e-4c75-94cd-24a024df8820 · outbound

This paper cites Unitree sdk2,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Unitree sdk2,

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.672819Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 82c6b649-1342-4eaa-b645-d94c9cbce42a · outbound

This paper cites Orbit: A unified simulation framework for interactive robot learning environments,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Orbit: A unified simulation framework for interactive robot learning environments,

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.517329Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 55147f1a-5386-4253-b8b9-70edf0d1ad1f · outbound

This paper cites Ad- vancing humanoid locomotion: Mastering challenging terrains with denoising world model learning,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Ad- vancing humanoid locomotion: Mastering challenging terrains with denoising world model learning,

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-15T20:57:31.521251Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b38f7423-e40a-4f47-ab3f-35429ccce1d1 · outbound

This paper cites A formal basis for the heuristic determination of minimum cost paths,.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics A formal basis for the heuristic determination of minimum cost paths,

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.640570Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Observation 6ddaba8e-cb3c-43ac-a632-17ed0ed0b049 · outbound

This paper cites Experimental video.

SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics Experimental video

Reference 41

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T20:57:31.624079Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.

Pith citing papers

Observation 1859047f-afcd-4533-a3f3-f18a8467de5b · inbound

CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection cites this paper.

CMP: Robust Whole-Body Tracking for Loco-Manipulation via Competence Manifold Projection SHIELD: Safety on Humanoids via CBFs In Expectation on Learned Dynamics

Reference 54

Resolution: verified exact; arxiv_id, observed 2026-06-23T04:13:38.566512Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-19T06:32:44.657259+00:00.