Paper Citation Record · LEDGER

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data

As of 23 August 2026, this Paper Citation Record lists 45 of 45 outbound references and 1 inbound Pith citation observation for arXiv:2506.04120.

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

pith.paper-citation-record.v1
2506.04120 v2

Coverage vector

measured 45 of 45 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-07T10:53:42.285930Z

measured 46 of 46 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-23T06:30:58.430688+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-06-30T05:26:33.723956Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-06-30T14:24:45.619017Z

Reference resolution

45 of 45 outbound references displayed

verified exact2
verified fuzzy11
unresolved31
parse uncertain0
malformed identifier1
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation d91d09b1-f7c7-45c0-8511-8a736462a94d · outbound

This paper cites NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:39.141503Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1b6edd23-523d-41cf-8c41-df718256c3b6 · outbound

This paper cites Kerbl, G.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Kerbl, G

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:39.187000Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d2e5988d-5e03-471b-847d-dd098896c28a · outbound

This paper cites Todorov, T.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Todorov, T

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:39.263475Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation feff86c7-315f-48ec-8e00-ec34f4dbb1bc · outbound

This paper cites Dogaru, M.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Dogaru, M

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:47.252509Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 17603034-5e0e-4efa-b8f2-976ac590c7dc · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 5

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:47.062586Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 66fbee22-7a5f-4788-afb5-cbf096dce9c3 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 6

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:46.879790Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 47e17089-e679-436a-a450-e81b1251a1f8 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 7

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:46.671667Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation cc9f2030-21c6-4c22-8ed1-25ba5764914f · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 8

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:46.570981Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 24ea9d40-428c-47f3-87e3-dd209c02d405 · outbound

This paper cites RL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data RL-GSBridge: 3D Gaussian Splatting Based Real2Sim2Real Method for Robotic Manipulation Learning

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:39.809899Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 46620245-edd5-4533-a9f7-1986d746aa60 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 10

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:46.472087Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 148dec98-02aa-4f28-b18e-5259c5b6b64e · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 11

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:46.346856Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 7c20c525-a0ef-4f8e-8d83-79b7be1fe329 · outbound

This paper cites One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data One-Shot Real-to-Sim via End-to-End Differentiable Simulation and Rendering

Reference 12

Resolution: verified exact; local_arxiv, observed 2026-08-07T10:53:42.843735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation c0c67c11-a07a-48bf-8099-a530677547f1 · outbound

This paper cites SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.037516Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation ae8b24bf-cc1f-4acc-8e20-c14ef92c72e2 · outbound

This paper cites Byravan, J.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Byravan, J

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:46.169236Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 688da9ec-95d5-4715-a50d-bdf17351a2ce · outbound

This paper cites Sato and Y.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Sato and Y

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.186683Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8b23db35-82fc-49f0-b3d7-5498b6e1fe5f · outbound

This paper cites NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.273874Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 98c07ac9-2a35-410c-877b-6a7bea5c5c25 · outbound

This paper cites vMAP: Vectorised Object Mapping for Neural Field SLAM.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data vMAP: Vectorised Object Mapping for Neural Field SLAM

Reference 17

Resolution: verified exact; local_arxiv, observed 2026-08-07T10:53:42.624963Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 898f9bce-168f-457d-8223-e56704b7f07d · outbound

This paper cites Detecting Twenty-thousand Classes using Image-level Supervision.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Detecting Twenty-thousand Classes using Image-level Supervision

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.379129Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bea00426-fdcf-41f5-a782-f0cfba07646e · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 19

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:45.962087Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a16470aa-bb47-496f-bfd6-78b7a4356be5 · outbound

This paper cites Segment Anything.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Segment Anything

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.537689Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e50bd8f8-6d02-4569-b306-2bb42972e049 · outbound

This paper cites High-Quality Entity Segmentation.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data High-Quality Entity Segmentation

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.610445Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 5868eeee-e4ee-4871-b84c-cb65770aa4c7 · outbound

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

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:40.683980Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0e41bc6c-34b9-4fa1-b650-342d74d3996d · outbound

This paper cites Zakka, Y.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Zakka, Y

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:45.747513Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 1b7517c2-e0b3-49c7-95a0-dd8a742d90f6 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 25

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:45.549497Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 08819ec9-27b0-457b-808a-7ebb0977c354 · outbound

This paper cites Gu ´edon and V.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Gu ´edon and V

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:45.376040Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation c7a60c3e-4211-4ba2-af0a-13ec85c3f3f3 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.005507Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cf7655a9-8442-463a-86a4-419cd64dda8d · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 28

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:45.166183Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a69ba39a-6199-4492-bdfc-3483ae2574cc · outbound

This paper cites Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.143323Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9eceddee-a3e2-4cbb-b04e-907078615f8f · outbound

This paper cites ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.207184Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0a25b8e5-3929-47c8-b4bc-783969beff00 · outbound

This paper cites Tancik, E.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Tancik, E

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:44.964602Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 220f8d0e-8d7e-4dbe-96c6-509322086e47 · outbound

This paper cites Structured 3D Latents for Scalable and Versatile 3D Generation.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Structured 3D Latents for Scalable and Versatile 3D Generation

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.345232Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e6d6e9c3-5ff0-4b75-99f5-6d793391b17e · outbound

This paper cites CAT3D: Create Anything in 3D with Multi-View Diffusion Models.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data CAT3D: Create Anything in 3D with Multi-View Diffusion Models

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.406199Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b6e11a18-2b54-4e62-8b6e-7ba1fe4e21f1 · outbound

This paper cites Saito, G.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Saito, G

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:44.774078Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation a6b9f841-5bfa-42da-8322-6f6b7422b434 · outbound

This paper cites Moenne-Loccoz, A.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Moenne-Loccoz, A

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:44.585526Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 9da1582c-2be6-4132-a9d4-2eb66b8eebe1 · outbound

This paper cites Gu ´edon and V.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Gu ´edon and V

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:44.326784Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 747a5719-e464-40ff-afe4-abb8746dba84 · outbound

This paper cites Adam: A Method for Stochastic Optimization.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Adam: A Method for Stochastic Optimization

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.693286Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e7792370-96f1-4c63-b6e8-79a336df77cb · outbound

This paper cites Minderer, A.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Minderer, A

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:44.111048Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 37abc078-e75f-49e6-958a-b05bd5aefbcb · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:41.834838Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6d9e3759-7154-486e-af28-9fc2be132157 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 40

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:43.857444Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 6521a504-caec-4db3-9cf3-0c2c97990cb8 · outbound

This paper cites 14 (a) Overhead camera (b) Table camera (c) Left wrist camera (d) Right wrist camera Figure 5: Example images from dataset.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data 14 (a) Overhead camera (b) Table camera (c) Left wrist camera (d) Right wrist camera Figure 5: Example images from dataset

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:43.631314Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation 78ad7d45-3842-40b8-8941-3aeffe5940b1 · outbound

This paper cites The model outputs bounding boxes and associated confidence scores, and we discarded all but the highest confidence box.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data The model outputs bounding boxes and associated confidence scores, and we discarded all but the highest confidence box

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-08-07T10:53:43.484276Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation faa45bc8-b1b1-4058-9418-fc2bcf5228e0 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 44

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:43.331587Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation b03d5e2a-1b4f-41b5-a904-c33fcc568230 · outbound

This paper cites an unresolved cited work.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data Unresolved cited work

Reference 45

Resolution: unresolved; raw_fallback, observed 2026-08-07T10:53:43.203393Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation e19ecd57-bc0e-459a-a2ae-e1e4e2ad616e · outbound

This paper cites This pipeline provided the ground truth masks used for the mask loss ( Lmask) during real-world object reconstruction.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data This pipeline provided the ground truth masks used for the mask loss ( Lmask) during real-world object reconstruction

Reference 46

Resolution: malformed identifier; raw_fallback, observed 2026-08-07T10:53:43.051440Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.

Observation bc341a31-ec67-4f23-8ccb-1d440281181e · outbound

This paper cites doi:10.1109/IROS.2012.6386109.

Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data doi:10.1109/IROS.2012.6386109

Reference 5033

Resolution: unresolved; no resolver link, observed 2026-08-07T10:53:39.373350Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Pith citing papers

Observation eb2dbe63-24e2-43c9-bc28-36b08957f90d · inbound

ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration cites this paper.

ConCent: Contact-Centric Real-to-Sim-to-Real Learning from One Demonstration Splatting Physical Scenes: End-to-End Real-to-Sim from Imperfect Robot Data

Reference 23

Resolution: verified exact; arxiv_id, observed 2026-06-30T14:24:45.620458Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-23T06:30:58.430688+00:00.