Paper Citation Record · LEDGER

FACT: Failure-Aware Causal Training for World-Action Models

As of 18 August 2026, this Paper Citation Record lists 53 of 53 outbound references and 0 inbound Pith citation observations for arXiv:2608.10232.

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

pith.paper-citation-record.v1
2608.10232 v1

Coverage vector

measured 53 of 53 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-14T04:16:39.778723Z

measured 53 of 53 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-18T06:34:40.430872+00:00

measured 0 of 0 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links

measured 0 of 1 external citation measurements

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

Source: cited_works

Reference resolution

53 of 53 outbound references displayed

verified exact2
verified fuzzy1
unresolved49
parse uncertain0
malformed identifier0
metadata mismatch1

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation 18359d06-58c4-4ea8-bf85-c1a984a16673 · outbound

This paper cites Zitkovich, T.

FACT: Failure-Aware Causal Training for World-Action Models Zitkovich, T

Reference 1

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.566532Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d85b0dcf-f0b5-48d4-b3d6-ea6c15971b92 · outbound

This paper cites OpenVLA: An Open-Source Vision-Language-Action Model.

FACT: Failure-Aware Causal Training for World-Action Models OpenVLA: An Open-Source Vision-Language-Action Model

Reference 2

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.571312Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7cb43452-3736-4a5d-9007-c9ec06dc37af · outbound

This paper cites $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control.

FACT: Failure-Aware Causal Training for World-Action Models $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.576206Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0ce6db79-06a8-4732-ae87-d226132ae042 · outbound

This paper cites $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization.

FACT: Failure-Aware Causal Training for World-Action Models $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization

Reference 4

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.580526Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f0c84139-840e-47b5-93f0-4e9452b8379c · outbound

This paper cites Causal World Modeling for Robot Control.

FACT: Failure-Aware Causal Training for World-Action Models Causal World Modeling for Robot Control

Reference 5

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.583813Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fbf0047a-dc86-409c-95a1-e57f36b4649a · outbound

This paper cites Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning.

FACT: Failure-Aware Causal Training for World-Action Models Cosmos Policy: Fine-Tuning Video Models for Visuomotor Control and Planning

Reference 6

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.587688Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0c32abff-036b-460c-b155-58c6f9848169 · outbound

This paper cites Motus: A Unified Latent Action World Model.

FACT: Failure-Aware Causal Training for World-Action Models Motus: A Unified Latent Action World Model

Reference 7

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.591502Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6325bca1-5dbd-4bbd-b5a4-5b33e621ce43 · outbound

This paper cites Fast-WAM: Do World Action Models Need Test-time Future Imagination?.

FACT: Failure-Aware Causal Training for World-Action Models Fast-WAM: Do World Action Models Need Test-time Future Imagination?

Reference 8

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.595178Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 74124e4b-6ea4-490d-a08a-f0a802db7e48 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.599322Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 49322d70-84e2-49f2-b0ee-9ca2bc658543 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 10

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.603026Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation cb0b342f-3fa5-4404-9d18-39aa28cbf75f · outbound

This paper cites World Action Models are Zero-shot Policies.

FACT: Failure-Aware Causal Training for World-Action Models World Action Models are Zero-shot Policies

Reference 11

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.606004Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3916494b-91e4-4a19-9f52-24c9afcbff0b · outbound

This paper cites $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation.

FACT: Failure-Aware Causal Training for World-Action Models $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation

Reference 12

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.609691Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 241b9e6f-ce20-4ccd-b14a-11f9b4b6a9d6 · outbound

This paper cites Hallucination of Multimodal Large Language Models: A Survey.

FACT: Failure-Aware Causal Training for World-Action Models Hallucination of Multimodal Large Language Models: A Survey

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.613227Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e67473aa-44e8-4363-9210-8cdb628eaa9d · outbound

This paper cites A Survey of Hallucination in Large Foundation Models.

FACT: Failure-Aware Causal Training for World-Action Models A Survey of Hallucination in Large Foundation Models

Reference 14

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.616661Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37e27ced-4a82-42fb-9ef7-3c139b5685e9 · outbound

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

FACT: Failure-Aware Causal Training for World-Action Models RT-1: Robotics Transformer for Real-World Control at Scale

Reference 15

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.620428Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 76366595-c6bf-4155-bcf8-3eb4fbf39d6e · outbound

This paper cites Octo: An Open-Source Generalist Robot Policy.

FACT: Failure-Aware Causal Training for World-Action Models Octo: An Open-Source Generalist Robot Policy

Reference 16

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.625820Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation bccd030b-eeb8-4806-b5eb-8cbc1594583d · outbound

This paper cites X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model.

FACT: Failure-Aware Causal Training for World-Action Models X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model

Reference 17

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.632660Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation c01019b8-6455-47eb-83ff-fbcf0977869c · outbound

This paper cites A Pragmatic VLA Foundation Model.

FACT: Failure-Aware Causal Training for World-Action Models A Pragmatic VLA Foundation Model

Reference 18

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.636799Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 0aaf8514-feb4-413c-919f-035b15ed4ac0 · outbound

This paper cites From Foundation to Application: Improving VLA Models in Practice.

FACT: Failure-Aware Causal Training for World-Action Models From Foundation to Application: Improving VLA Models in Practice

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.641954Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 54037757-5e89-4d03-954f-84a58a3f5ce5 · outbound

This paper cites DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos.

FACT: Failure-Aware Causal Training for World-Action Models DreamDojo: A Generalist Robot World Model from Large-Scale Human Videos

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.646182Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 909b2755-73a0-484d-8411-a5ce28281b3e · outbound

This paper cites LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion.

FACT: Failure-Aware Causal Training for World-Action Models LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion

Reference 21

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.649904Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 89959d24-cb2c-4980-9a1e-2b9729c66728 · outbound

This paper cites Jiang, Y.

FACT: Failure-Aware Causal Training for World-Action Models Jiang, Y

Reference 22

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.654653Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 8bb607b7-8f52-4ed9-b134-ca3362aca71f · outbound

This paper cites Long-Horizon Manipulation via Trace-Conditioned VLA Planning.

FACT: Failure-Aware Causal Training for World-Action Models Long-Horizon Manipulation via Trace-Conditioned VLA Planning

Reference 23

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.658257Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e3df15b0-b541-405b-9c69-04131c35c552 · outbound

This paper cites RoboNet: Large-Scale Multi-Robot Learning.

FACT: Failure-Aware Causal Training for World-Action Models RoboNet: Large-Scale Multi-Robot Learning

Reference 24

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.672221Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 99f1c140-6412-4b6a-8b30-4e2faa90fe51 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 25

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.676079Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 751e3c22-8399-45e1-a738-eb9dc9f0d13a · outbound

This paper cites O’Neill, A.

FACT: Failure-Aware Causal Training for World-Action Models O’Neill, A

Reference 26

Resolution: verified fuzzy; raw_fallback, observed 2026-08-14T04:16:40.842329Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 81dab2dd-62cb-4b10-ba76-08bcdc2758fc · outbound

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

FACT: Failure-Aware Causal Training for World-Action Models DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset

Reference 27

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.684091Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b18fc2d7-e17f-4ae1-8f25-18422ba32bee · outbound

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

FACT: Failure-Aware Causal Training for World-Action Models Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware

Reference 28

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.687936Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 3ca2b3d4-a435-4ed5-a4d7-145a58fd7180 · outbound

This paper cites Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation.

FACT: Failure-Aware Causal Training for World-Action Models Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation

Reference 29

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.691434Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 50229cd2-9650-46c3-b652-46d120107fe6 · outbound

This paper cites Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots.

FACT: Failure-Aware Causal Training for World-Action Models Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots

Reference 30

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.695027Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 69e65c1a-c3c5-4253-82ba-2dc20855127f · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 31

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.698431Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 58dab1e7-f336-4f53-96ea-27f680c2940d · outbound

This paper cites Cheng, K.

FACT: Failure-Aware Causal Training for World-Action Models Cheng, K

Reference 32

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.701326Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f946e615-f187-4326-bd57-b6e81b803033 · outbound

This paper cites EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos.

FACT: Failure-Aware Causal Training for World-Action Models EgoVLA: Learning Vision-Language-Action Models from Egocentric Human Videos

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.704278Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation b6dbe32c-6c48-4bb6-938c-a3f88e300ba0 · outbound

This paper cites Zheng, D.

FACT: Failure-Aware Causal Training for World-Action Models Zheng, D

Reference 34

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.708557Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e681eb2c-b276-4ad5-bf9b-f20a6d4b3f41 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.712166Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 42e213e5-2b40-4a5a-b1f7-257fd83872a9 · outbound

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

FACT: Failure-Aware Causal Training for World-Action Models RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Reference 36

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.715858Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation dd058a5c-a4e7-4405-a836-bf6e1c2c8a7f · outbound

This paper cites Nasiriany, S.

FACT: Failure-Aware Causal Training for World-Action Models Nasiriany, S

Reference 37

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.719919Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation be86dffd-74f8-49f7-8676-049a998ec2d0 · outbound

This paper cites MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations.

FACT: Failure-Aware Causal Training for World-Action Models MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations

Reference 38

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.723145Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d66349e4-f952-4012-8cb8-412712fdc054 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 39

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.728189Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 6029a6c6-80cf-4b58-9e59-a2d3bf81821f · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 40

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.731863Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a8458c98-6ccb-4f62-bf9b-65c1e10f0132 · outbound

This paper cites RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation.

FACT: Failure-Aware Causal Training for World-Action Models RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation

Reference 41

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.735286Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 03aedd62-733c-4c2d-8143-6dd2e2e93b4b · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 42

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.739184Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 7f45eb0d-2143-47da-8452-3a1849e7e48f · outbound

This paper cites ViVa: A Video-Generative Value Model for Robot Reinforcement Learning.

FACT: Failure-Aware Causal Training for World-Action Models ViVa: A Video-Generative Value Model for Robot Reinforcement Learning

Reference 43

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.742547Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation f1b44faf-88ac-43fe-9b3c-841dc1f36d92 · outbound

This paper cites RISE: Self-Improving Robot Policy with Compositional World Model.

FACT: Failure-Aware Causal Training for World-Action Models RISE: Self-Improving Robot Policy with Compositional World Model

Reference 44

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.747245Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a7c4a62d-ca62-48ce-a619-dc4e5d1b4514 · outbound

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

FACT: Failure-Aware Causal Training for World-Action Models REFLECT: Summarizing Robot Experiences for Failure Explanation and Correction

Reference 45

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.750535Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 37c614ba-46ca-4ced-a60f-0882a53f6c5a · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 46

Resolution: unresolved; raw_fallback, observed 2026-08-14T04:16:40.817310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 7420f70e-7077-44ec-a4e0-907421e50d56 · outbound

This paper cites Learning from Demonstration with Failure Awareness for Safe Robot Navigation.

FACT: Failure-Aware Causal Training for World-Action Models Learning from Demonstration with Failure Awareness for Safe Robot Navigation

Reference 47

Resolution: verified exact; local_arxiv, observed 2026-08-14T04:16:39.962156Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 19efc19b-a5bf-4c9a-97ee-b0c638fff48b · outbound

This paper cites Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures.

FACT: Failure-Aware Causal Training for World-Action Models Recover, Discover, Plan: Learning Skills and Concepts from Robot Failures

Reference 48

Resolution: verified exact; local_arxiv, observed 2026-08-14T04:16:39.945948Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 578a8961-3841-46ea-b2f7-9f7d7845cde3 · outbound

This paper cites Flow Matching for Generative Modeling.

FACT: Failure-Aware Causal Training for World-Action Models Flow Matching for Generative Modeling

Reference 49

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.763866Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e356f64d-9ec1-4011-bbe2-2479278d01ad · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 50

Resolution: unresolved; raw_fallback, observed 2026-08-14T04:16:40.799845Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Observation 6d5e9929-bbd5-49fd-81a6-46e081b028d8 · outbound

This paper cites Wan: Open and Advanced Large-Scale Video Generative Models.

FACT: Failure-Aware Causal Training for World-Action Models Wan: Open and Advanced Large-Scale Video Generative Models

Reference 51

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.771232Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1a7eecba-1cc3-4e12-a833-c1c51e3c1171 · outbound

This paper cites Decoupled Weight Decay Regularization.

FACT: Failure-Aware Causal Training for World-Action Models Decoupled Weight Decay Regularization

Reference 52

Resolution: unresolved; no resolver link, observed 2026-08-14T04:16:39.775106Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 1f292cb0-20d9-40e2-94f1-7d9d51dbd551 · outbound

This paper cites an unresolved cited work.

FACT: Failure-Aware Causal Training for World-Action Models Unresolved cited work

Reference 53

Resolution: metadata mismatch; raw_fallback, observed 2026-08-14T04:16:39.896174Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-18T06:34:40.430872+00:00.

Pith citing papers

No inbound Pith citation observations are available.