Paper Citation Record · LEDGER

RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

As of 22 August 2026, this Paper Citation Record lists 0 of 0 outbound references and 21 inbound Pith citation observations for arXiv:2411.02704.

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

pith.paper-citation-record.v1
2411.02704 v1

Coverage vector

measured 0 of 0 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links

measured 21 of 21 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 21 of 21 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T21:35:26.119165Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-06-30T13:24:40.645193Z

Reference resolution

0 of 0 outbound references displayed

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verified fuzzy0
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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 9d90b9b4-fcfb-46dc-ab87-eedb199260e0 · inbound

Motion Before Action: Diffusing Object Motion as Manipulation Condition cites this paper.

Motion Before Action: Diffusing Object Motion as Manipulation Condition RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-12T20:28:49.552296Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 786a3219-5367-4820-84ac-2271d019952d · inbound

Tra-MoE: Learning Trajectory Prediction Model from Multiple Domains for Adaptive Policy Conditioning cites this paper.

Tra-MoE: Learning Trajectory Prediction Model from Multiple Domains for Adaptive Policy Conditioning RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 46

Resolution: unresolved; no resolver link, observed 2026-08-12T15:24:14.332055Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d5376ed9-0cf7-4a83-a290-622e4646770e · inbound

SeqAfford: Sequential 3D Affordance Reasoning via Multimodal Large Language Model cites this paper.

SeqAfford: Sequential 3D Affordance Reasoning via Multimodal Large Language Model RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-12T04:22:03.966607Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4af336ec-415b-4c43-bc6f-5b30944c0091 · inbound

You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations cites this paper.

You Only Teach Once: Learn One-Shot Bimanual Robotic Manipulation from Video Demonstrations RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 63

Resolution: unresolved; no resolver link, observed 2026-08-10T15:18:52.426488Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2f8e15a0-b352-4636-9cff-c8c059d0d455 · inbound

Learning Long-Context Diffusion Policies via Past-Token Prediction cites this paper.

Learning Long-Context Diffusion Policies via Past-Token Prediction RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-15T21:35:26.119165Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f254d4c4-3048-4429-9036-184ab0ef71d0 · inbound

SwitchVLA: Execution-Aware Task Switching for Vision-Language-Action Models cites this paper.

SwitchVLA: Execution-Aware Task Switching for Vision-Language-Action Models RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-07T11:05:39.353454Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1102a049-928a-4b00-8f73-b05afd3ba384 · inbound

Generating 6DoF Object Manipulation Trajectories from Action Description in Egocentric Vision cites this paper.

Generating 6DoF Object Manipulation Trajectories from Action Description in Egocentric Vision RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 67

Resolution: unresolved; no resolver link, observed 2026-08-07T11:03:01.797316Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 54ebc49d-9fa4-43e9-b1e1-27180a0e8fe3 · inbound

VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models cites this paper.

VLA-OS: Structuring and Dissecting Planning Representations and Paradigms in Vision-Language-Action Models RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 56

Resolution: unresolved; no resolver link, observed 2026-08-15T19:10:27.292201Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 4985e8db-a4d8-44b2-b854-37eb7dad527d · inbound

AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies cites this paper.

AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-05T21:44:59.288272Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8f8fadbd-8a5a-42f5-833a-911185d0387d · inbound

Spatial Traces: Enhancing VLA Models with Spatial-Temporal Understanding cites this paper.

Spatial Traces: Enhancing VLA Models with Spatial-Temporal Understanding RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-15T17:34:25.756414Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c26ddd38-e1c3-4657-81ee-c973305896ab · inbound

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

Embodied-R1: Reinforced Embodied Reasoning for General Robotic Manipulation RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 24

Resolution: verified exact; arxiv_id, observed 2026-05-18T22:06:51.627881Z

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 534d43bc-8900-453f-8af0-42a1514f91ba · inbound

O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation cites this paper.

O$^3$Afford: One-Shot 3D Object-to-Object Affordance Grounding for Generalizable Robotic Manipulation RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-04T23:55:43.205205Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 43a8f672-2fce-4ae8-9d6c-765790ea6735 · inbound

VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation cites this paper.

VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-05-18T13:51:25.703777Z

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 4a6b3248-a3a5-4bdc-a601-113b4545baf7 · inbound

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy cites this paper.

InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 28

Resolution: verified exact; arxiv_id, observed 2026-05-14T20:09:39.851482Z

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 437faf3a-f7b1-4fbd-a727-44ec03b1bac4 · inbound

LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation cites this paper.

LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 26

Resolution: verified exact; arxiv_id, observed 2026-05-25T07:35:27.866968Z

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 4505ac3e-c727-44cb-bddb-7c72aee0f127 · inbound

Context-Dependent Affordance Computation in Vision-Language Models cites this paper.

Context-Dependent Affordance Computation in Vision-Language Models RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 26

Resolution: unresolved; no resolver link, observed 2026-08-02T23:33:58.233101Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5dd4a60f-90cf-4a70-9d2c-a14a90929648 · inbound

RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots cites this paper.

RecoverFormer: End-to-End Contact-Aware Recovery for Humanoid Robots RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 25

Resolution: verified exact; arxiv_id, observed 2026-05-11T19:36:15.487005Z

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 ac6f4619-371b-480e-bc66-8a6050429c33 · inbound

Affordance Agent Harness: Verification-Gated Skill Orchestration cites this paper.

Affordance Agent Harness: Verification-Gated Skill Orchestration RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 47

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T16:06:33.885055Z

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 c85f8f85-7b30-4ad3-82ba-7de17366bc86 · inbound

Affordance Agent Harness: Verification-Gated Skill Orchestration cites this paper.

Affordance Agent Harness: Verification-Gated Skill Orchestration RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 47

Resolution: metadata mismatch; arxiv_id, observed 2026-05-11T04:10:55.813105Z

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 c18e144a-27e8-429f-8c08-7b656dee87de · inbound

Bridging the Embodiment Gap: Disentangled Cross-Embodiment Video Editing cites this paper.

Bridging the Embodiment Gap: Disentangled Cross-Embodiment Video Editing RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-05-12T11:01:31.522365Z

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 af0ede9f-05bd-4daa-b470-895c8034381e · inbound

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models cites this paper.

TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models RT-Affordance: Affordances are Versatile Intermediate Representations for Robot Manipulation

Reference 39

Resolution: verified exact; arxiv_id, observed 2026-06-30T13:24:40.647723Z

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.