Paper Citation Record · LEDGER

Grounding Language Models with Semantic Digital Twins for Robotic Planning

As of 17 August 2026, this Paper Citation Record lists 31 of 31 outbound references and 2 inbound Pith citation observations for arXiv:2506.16493.

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

pith.paper-citation-record.v1
2506.16493 v1

Coverage vector

measured 31 of 31 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-15T19:28:36.740425Z

measured 33 of 33 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 2 of 2 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-03T08:15:26.695657Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-15T14:50:04.603247Z

Reference resolution

31 of 31 outbound references displayed

verified exact4
verified fuzzy6
unresolved21
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 32278efb-5eca-47c5-b3bc-f919a38dd092 · outbound

This paper cites LLM-mediated Dynamic Plan Generation with a Multi-Agent Approach.

Grounding Language Models with Semantic Digital Twins for Robotic Planning LLM-mediated Dynamic Plan Generation with a Multi-Agent Approach

Reference 1

Resolution: verified exact; local_arxiv, observed 2026-08-15T19:28:37.434892Z

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 3ed40c5d-5a14-462c-877d-12867cf31f4b · outbound

This paper cites Cognitive planning for object goal navigation using gen- erative ai models.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Cognitive planning for object goal navigation using gen- erative ai models

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.683836Z

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 9f684e7d-443d-4453-b318-b5cb8e2099b8 · outbound

This paper cites Conceptual mod- eling for a simulation-based digital twin in human-robot collaboration.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Conceptual mod- eling for a simulation-based digital twin in human-robot collaboration

Reference 3

Resolution: verified exact; doi, observed 2026-08-15T19:28:36.808878Z

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 e572f295-ed0e-4f92-8d82-02823c225f1d · outbound

This paper cites Ground- ing llms for robot task planning using closed-loop state feedback, 2024.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Ground- ing llms for robot task planning using closed-loop state feedback, 2024

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.295790Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 45148bf5-43a9-4c12-9cd1-01895f1cb1f1 · outbound

This paper cites Autogpt+p: Affordance-based task plan- ning using large language models.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Autogpt+p: Affordance-based task plan- ning using large language models

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.300261Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1645a3d6-240a-49ce-88d2-b8cb3268d733 · outbound

This paper cites G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation.

Grounding Language Models with Semantic Digital Twins for Robotic Planning G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.308965Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 110c169a-2855-440c-8074-dc287e1363e4 · outbound

This paper cites Lota-bench: Benchmarking language-oriented task planners for embodied agents,.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Lota-bench: Benchmarking language-oriented task planners for embodied agents,

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.668200Z

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 36c72e60-a6c6-45bd-ac46-abfe84e081c9 · outbound

This paper cites PaLM-E: An Embodied Multimodal Language Model.

Grounding Language Models with Semantic Digital Twins for Robotic Planning PaLM-E: An Embodied Multimodal Language Model

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.322253Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 955fd9be-b17b-42f7-b42e-47e31a44fd7a · outbound

This paper cites ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning.

Grounding Language Models with Semantic Digital Twins for Robotic Planning ConceptGraphs: Open-Vocabulary 3D Scene Graphs for Perception and Planning

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.326936Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f84e16d0-fa39-45a7-b5b3-9523d83b3d92 · outbound

This paper cites Instruct2act: Mapping multi-modality instructions to robotic actions with large language model, 2023.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Instruct2act: Mapping multi-modality instructions to robotic actions with large language model, 2023

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.655059Z

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 ff4da962-55e4-4aec-a9b3-1672936cb2f4 · outbound

This paper cites SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models.

Grounding Language Models with Semantic Digital Twins for Robotic Planning SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.333874Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 12e09a6e-82b3-49c9-a48f-0b376cc35b41 · outbound

This paper cites Safety Aware Task Planning via Large Language Models in Robotics.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Safety Aware Task Planning via Large Language Models in Robotics

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.337745Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bf45b35c-09c7-4c5f-988f-d177bf94910d · outbound

This paper cites DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models.

Grounding Language Models with Semantic Digital Twins for Robotic Planning DELTA: Decomposed Efficient Long-Term Robot Task Planning using Large Language Models

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.341645Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1e8b613d-3842-46f8-af6c-e14fea7677a9 · outbound

This paper cites REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction.

Grounding Language Models with Semantic Digital Twins for Robotic Planning REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.345854Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8e8504fb-6e82-429d-a5f7-b9870fb4b61b · outbound

This paper cites UniTeam: Open Vocabulary Mobile Manipulation Challenge.

Grounding Language Models with Semantic Digital Twins for Robotic Planning UniTeam: Open Vocabulary Mobile Manipulation Challenge

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.349351Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d60f4c6b-ee17-4f10-800b-303d5c3ce5a4 · outbound

This paper cites Digital twin generation from visual data: A survey.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Digital twin generation from visual data: A survey

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.353101Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b8586c44-26f4-4604-b988-c2963afc19ac · outbound

This paper cites Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMs.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMs

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-08-15T19:28:37.146332Z

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 17ac6a62-d29c-4476-afc3-184a100b89bc · outbound

This paper cites PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs.

Grounding Language Models with Semantic Digital Twins for Robotic Planning PIVOT: Iterative Visual Prompting Elicits Actionable Knowledge for VLMs

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.425673Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4a2b6765-a52d-4459-858a-79ba8a60b4d9 · outbound

This paper cites SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching.

Grounding Language Models with Semantic Digital Twins for Robotic Planning SplatR : Experience Goal Visual Rearrangement with 3D Gaussian Splatting and Dense Feature Matching

Reference 19

Resolution: verified exact; local_arxiv, observed 2026-08-15T19:28:37.004607Z

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 80d5123b-54e6-4350-b681-49afc3c2d82d · outbound

This paper cites SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning.

Grounding Language Models with Semantic Digital Twins for Robotic Planning SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.564827Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c4d5faa4-e579-4888-adab-543d315106f5 · outbound

This paper cites Contrastive Language, Action, and State Pre-training for Robot Learning.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Contrastive Language, Action, and State Pre-training for Robot Learning

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.607417Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation eb3130fa-19e2-4b11-b0f8-9b6bd571c81a · outbound

This paper cites Alfred: A benchmark for interpreting grounded instructions for everyday tasks,.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Alfred: A benchmark for interpreting grounded instructions for everyday tasks,

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.641609Z

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 6102903f-3e9d-40eb-acca-2fdffe96bd26 · outbound

This paper cites RePLan: Robotic Replanning with Perception and Language Models.

Grounding Language Models with Semantic Digital Twins for Robotic Planning RePLan: Robotic Replanning with Perception and Language Models

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.711037Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 42b4197e-bc55-4865-ab0c-59c1d26fc09c · outbound

This paper cites RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation.

Grounding Language Models with Semantic Digital Twins for Robotic Planning RoboGen: Towards Unleashing Infinite Data for Automated Robot Learning via Generative Simulation

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.718043Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73a9209f-b527-42c9-9b30-8e9fa1fd3e0b · outbound

This paper cites A human-like reasoning framework for multi-phases planning task with large language models, 2024.

Grounding Language Models with Semantic Digital Twins for Robotic Planning A human-like reasoning framework for multi-phases planning task with large language models, 2024

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.579757Z

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 5adce112-6c8c-4c06-911a-cbd87b1d1ee4 · outbound

This paper cites LiDAR-LLM: Exploring the Potential of Large Language Models for 3D LiDAR Understanding.

Grounding Language Models with Semantic Digital Twins for Robotic Planning LiDAR-LLM: Exploring the Potential of Large Language Models for 3D LiDAR Understanding

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.732039Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 02b56a21-2668-42c5-96b9-ef74f380c48c · outbound

This paper cites Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.736581Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d4f4dd53-c71a-45fc-8a0d-e92d16b977ae · outbound

This paper cites Target object not found within the specified visibility.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Target object not found within the specified visibility

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-15T19:28:37.500098Z

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 cd7c2e37-9b06-44fc-8f9a-4d3873b614b3 · outbound

This paper cites an unresolved cited work.

Grounding Language Models with Semantic Digital Twins for Robotic Planning Unresolved cited work

Reference 112

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.304558Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dfe16871-0cc3-4758-afba-ade00c17cdcd · outbound

This paper cites ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks.

Grounding Language Models with Semantic Digital Twins for Robotic Planning ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Tasks

Reference 2020

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.706120Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f8b80f8d-018b-49ac-986c-33ba202ab2b6 · outbound

This paper cites LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents.

Grounding Language Models with Semantic Digital Twins for Robotic Planning LoTa-Bench: Benchmarking Language-oriented Task Planners for Embodied Agents

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-15T19:28:36.317721Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation 63e075c5-f895-46b6-aca9-840ce614e8dc · inbound

A Survey on Evaluating Quality and Trustworthiness in LLM-Generated Data cites this paper.

A Survey on Evaluating Quality and Trustworthiness in LLM-Generated Data Grounding Language Models with Semantic Digital Twins for Robotic Planning

Reference 159

Resolution: unresolved; no resolver link, observed 2026-08-03T08:15:26.695657Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5b34db5c-f1a0-402b-bb71-eff313752eb7 · inbound

A Hierarchical Error-Corrective Graph Framework for Autonomous Agents with LLM-Based Action Generation cites this paper.

A Hierarchical Error-Corrective Graph Framework for Autonomous Agents with LLM-Based Action Generation Grounding Language Models with Semantic Digital Twins for Robotic Planning

Reference 18

Resolution: verified exact; arxiv_id, observed 2026-05-15T14:50:04.605993Z

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.