Paper Citation Record · LEDGER

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

As of 21 August 2026, this Paper Citation Record lists 30 of 30 outbound references and 8 inbound Pith citation observations for arXiv:2412.15182.

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

pith.paper-citation-record.v1
2412.15182 v2

Coverage vector

measured 30 of 30 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-11T11:37:44.840650Z

measured 38 of 38 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 8 of 8 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T21:46:26.664718Z

measured 0 of 1 external citation measurements

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

Source: arxiv_reference, observed 2026-05-13T07:52:32.029840Z

Reference resolution

30 of 30 outbound references displayed

verified exact0
verified fuzzy10
unresolved18
parse uncertain0
malformed identifier2
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 67ee1c6c-8e70-425c-9414-df4395916ece · outbound

This paper cites RT-H: Action Hierarchies Using Language.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning RT-H: Action Hierarchies Using Language

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.739894Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 9939295c-330a-47f5-89e4-4f744f868ef3 · outbound

This paper cites Our transformer policy was trained for 300 epochs with batch size 32 and an epoch every 200 gradient steps.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Our transformer policy was trained for 300 epochs with batch size 32 and an epoch every 200 gradient steps

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.037230Z

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 175fb59c-df76-4f47-aa6c-767d22e4116c · outbound

This paper cites Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.758637Z

Source-reported events for the cited work

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Observation b55203e2-0138-49d2-b424-0f3c65ab45fb · outbound

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

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning BAKU: An Efficient Transformer for Multi-Task Policy Learning

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.761932Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0e87074a-7a87-43d1-be79-595402c072d8 · outbound

This paper cites Deep Residual Learning for Image Recognition.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Deep Residual Learning for Image Recognition

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.765204Z

Source-reported events for the cited work

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Observation 7fc905aa-11f2-4a20-9fd0-dd8e8f8cc039 · outbound

This paper cites Zero-shot imitation policy via search in demonstration dataset.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Zero-shot imitation policy via search in demonstration dataset

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.091517Z

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 0f9fa268-b5fb-4f7d-9576-5918de79a1d2 · outbound

This paper cites RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.779816Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 98e1501b-c102-4b5e-a878-7d955b09e454 · outbound

This paper cites Open X-Embodiment: Robotic Learning Datasets and RT-X Models.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.783166Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 2367ea09-40de-43c6-9bd5-94d90598d621 · outbound

This paper cites DINOv2: Learning Robust Visual Features without Supervision.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning DINOv2: Learning Robust Visual Features without Supervision

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.787446Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1c0e0db9-59bf-460a-bfc2-e12dda00d997 · outbound

This paper cites R+ x: Retrieval and execution from everyday human videos.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning R+ x: Retrieval and execution from everyday human videos

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.083262Z

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 16066a29-0044-4648-87d4-18a67d2c7296 · outbound

This paper cites an unresolved cited work.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Unresolved cited work

Reference 16

Resolution: unresolved; raw_fallback, observed 2026-08-11T11:37:45.073510Z

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 48519590-1481-4eb3-98f0-bbad04b86425 · outbound

This paper cites 12 Published as a conference paper at ICLR 2025 Tanmay Shankar, Yixin Lin, Aravind Rajeswaran, Vikash Kumar, Stuart Anderson, and Jean Oh.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning 12 Published as a conference paper at ICLR 2025 Tanmay Shankar, Yixin Lin, Aravind Rajeswaran, Vikash Kumar, Stuart Anderson, and Jean Oh

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.064539Z

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 4ab7cab2-96d6-448c-884a-bb36440a6f57 · outbound

This paper cites Language-conditioned semantic search-based policy for robotic manipulation tasks.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Language-conditioned semantic search-based policy for robotic manipulation tasks

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.056302Z

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 0896c57e-5122-4400-84a8-c0213ebba73c · outbound

This paper cites Gemini: A Family of Highly Capable Multimodal Models.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Gemini: A Family of Highly Capable Multimodal Models

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.803484Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 85a7247a-4e9c-429a-9a1d-d3381265799e · outbound

This paper cites PoCo: Policy Composition from and for Heterogeneous Robot Learning.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning PoCo: Policy Composition from and for Heterogeneous Robot Learning

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.809033Z

Source-reported events for the cited work

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Observation de94b426-4465-481b-89b8-65da4964f9c4 · outbound

This paper cites Offline Imitation Learning Through Graph Search and Retrieval.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Offline Imitation Learning Through Graph Search and Retrieval

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.811777Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c54bd872-57fd-43af-b7e4-250b30eb49c0 · outbound

This paper cites Distilling and retrieving generalizable knowledge for robot manipulation via language corrections.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Distilling and retrieving generalizable knowledge for robot manipulation via language corrections

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.047917Z

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 80601bf6-3801-44ac-9199-faae54f57e7d · outbound

This paper cites EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Data

Reference 24

Resolution: malformed identifier; no resolver link, observed 2026-08-11T11:37:44.819512Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3a32eb7c-23a4-4745-afa5-7f0ae1b06b5a · outbound

This paper cites We use the DROID-setup (Khazatsky et al.,.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning We use the DROID-setup (Khazatsky et al.,

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.026613Z

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 a84500d7-dde8-43c1-872e-8424e845e000 · outbound

This paper cites A.2.1 F RANKA -PEN-IN-C UP Task: We evaluate STRAP’s ability to retrieve from ”unrelated” tasks in a pen-in-cup scenario.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning A.2.1 F RANKA -PEN-IN-C UP Task: We evaluate STRAP’s ability to retrieve from ”unrelated” tasks in a pen-in-cup scenario

Reference 27

Resolution: malformed identifier; raw_fallback, observed 2026-08-11T11:37:45.018381Z

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 cf3658f5-0c18-4a21-afa0-e8f1edf1cd84 · outbound

This paper cites These experiments replicate the training setup for BR and FR.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning These experiments replicate the training setup for BR and FR

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:45.009422Z

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 399b54ab-e2f3-4363-b589-217af16dda78 · outbound

This paper cites Note that computing the distance matrix can be expressed as matrix multiplications and can leverage GPU deployment and custom CUDA kernels for even greater speedup.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Note that computing the distance matrix can be expressed as matrix multiplications and can leverage GPU deployment and custom CUDA kernels for even greater speedup

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:44.989799Z

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 c5361802-4dde-4a23-bbb3-e9aecfcb2848 · outbound

This paper cites The wall clock time for encoding the entire DROID dataset ( 18.9M timesteps, single-view) therefore sums up to only 26h.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning The wall clock time for encoding the entire DROID dataset ( 18.9M timesteps, single-view) therefore sums up to only 26h

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-11T11:37:44.999869Z

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 ec70440f-a666-458b-bbf4-e2a386cd3769 · outbound

This paper cites DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning DINOBot: Robot Manipulation via Retrieval and Alignment with Vision Foundation Models

Reference 2009

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.754479Z

Source-reported events for the cited work

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Observation ff358461-473b-4aad-a507-83fccc2cea23 · outbound

This paper cites Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis

Reference 2015

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.768614Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 73858269-0bf5-4617-afae-96d3bbe586ad · outbound

This paper cites PoCo: Policy Composition from and for Heterogeneous Robot Learning.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning PoCo: Policy Composition from and for Heterogeneous Robot Learning

Reference 2017

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.806640Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 549eda4d-f513-4c9a-a5a8-bc6bb63a9894 · outbound

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

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Reference 2021

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.747906Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1971198e-f97f-495d-98f6-3200ac4c091e · outbound

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

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Reference 2022

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.772343Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 89e2bcf1-474e-4921-bc00-6da89f1a2e80 · outbound

This paper cites Imagenet: A large-scale hi- erarchical image database.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning Imagenet: A large-scale hi- erarchical image database

Reference 2023

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.751424Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bc12c7c2-c5e3-42f2-8b24-fc76a524ba2b · outbound

This paper cites RT-1: Robotics Transformer for Real-World Control at Scale.

STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning RT-1: Robotics Transformer for Real-World Control at Scale

Reference 2024

Resolution: unresolved; no resolver link, observed 2026-08-11T11:37:44.744609Z

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Pith citing papers

Observation 9d2bb405-bf19-4ebb-a8b6-a7e11dda1490 · inbound

RT-Cache: Training-Free Retrieval for Real-Time Manipulation cites this paper.

RT-Cache: Training-Free Retrieval for Real-Time Manipulation STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-15T21:46:26.664718Z

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Observation bddd0165-b007-4ab0-af48-f6357743a28b · inbound

DataMIL: Selecting Data for Robot Imitation Learning with Datamodels cites this paper.

DataMIL: Selecting Data for Robot Imitation Learning with Datamodels STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-15T21:34:17.064231Z

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Observation 9c2bba24-244e-49fa-965d-4ed4c789da99 · inbound

RealDrive: Retrieval-Augmented Driving with Diffusion Models cites this paper.

RealDrive: Retrieval-Augmented Driving with Diffusion Models STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-07T12:18:52.809886Z

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Observation e4b5f063-c916-4a45-ad3c-82db84662d32 · inbound

ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation cites this paper.

ImMimic: Cross-Domain Imitation from Human Videos via Mapping and Interpolation STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-04T17:26:19.525579Z

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Observation 6b1bf60c-12a4-4f44-ae8e-3dc85f7dd72e · inbound

Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning cites this paper.

Learning from the Best: Smoothness-Driven Metrics for Data Quality in Imitation Learning STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 16

Resolution: verified exact; arxiv_id, observed 2026-05-11T19:36:13.275986Z

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 b1021d86-186b-4b8b-8db8-b519ebafb1e4 · inbound

Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs cites this paper.

Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-05-12T07:06:27.985035Z

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 5fbb954f-27ad-49fe-a2e6-361cc39a8646 · inbound

Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs cites this paper.

Retrieve-then-Steer: Online Success Memory for Test-Time Adaptation of Generative VLAs STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 17

Resolution: verified exact; arxiv_id, observed 2026-05-13T07:52:32.033012Z

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 f48055be-372f-445d-b4c2-2722dead7344 · inbound

Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization cites this paper.

Try Once, Then Optimal: De-Redundified Procedure Memory for Cross-Episode Exploration Amortization STRAP: Robot Sub-Trajectory Retrieval for Augmented Policy Learning

Reference 12

Resolution: unresolved; no resolver link, observed 2026-07-30T15:27:16.620705Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.