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      "file": "contemporary-horizontal.json",
      "count": 37
    },
    "team-longitudinal": {
      "file": "team-longitudinal.json",
      "count": 38
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    "module-evolution": {
      "file": "module-evolution.json",
      "count": 10
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    "experiment-decision": {
      "file": "experiment-decision.json",
      "count": 8
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      "edge": "adopted_by",
      "target_paper_ids": [
        "milestone-tacto"
      ],
      "target_text": "TACTO（仿真支持 OmniTact 配置）；后续多向视觉触觉传感工作",
      "evidence": "verified_secondary"
    },
    {
      "source_paper_id": "arxiv-2003-06965",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2005-14679",
        "milestone-gelsight-vision-based-tactile-sensing"
      ],
      "target_text": "GelSight（光法立体光学原理）、DIGIT（Lambeta/Meta 高分辨率）、BioTac/OptoForce（多向低分辨率）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2005-14679",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-gelsight-vision-based-tactile-sensing",
        "oa-w2967936796",
        "arxiv-1605-07157"
      ],
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2411-19650",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2411-19650",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2501-15830",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2502-19645",
      "edge": "combines",
      "target_paper_ids": [
        "oa-w4399695759"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2502-19645",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2504-16054",
      "edge": "adopted_by",
      "target_paper_ids": [
        "arxiv-2607-02840"
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      "target_text": "TACO（从 π₀.5-DROID 初始化，触觉世界模型后训练）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2504-16054",
      "edge": "adopted_by",
      "target_paper_ids": [
        "arxiv-2603-23481"
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      "target_text": "VTAM 以 π₀.5 为基线并指出其接触力感知不足",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2507-09160",
      "edge": "adopted_by",
      "target_paper_ids": [
        "arxiv-2608-15816"
      ],
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2509-26642",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "Prismatic VLM/π0/OpenVLA/HybridVLA（代码基座）、SpatialVLA（3D）、3D-VLA、RoboMamba（SSM VLA）、LAST0（spatio-temporal CoT）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2510-00037",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "π₀/π₀-FAST/OpenVLA（骨干）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2511-15200",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-isaac-lab-multimodal-robot-learning"
      ],
      "target_text": "HOMIE（6，WBC）、teacher-student 特权学习（9）、DAgger（56）、DINOv3（61）、Isaac Lab tiled rendering（48）、Dactyl 式视觉 DR（2/3）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2512-01358",
      "edge": "combines",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "GR00T 扩散×ZoeDepth×碰撞接触×cuRobo 力真值×跨本体数据集",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2512-01358",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "GR00T N1（基础策略）、ZoeDepth（深度估计）、cuRobo（规划/IK）、Fourier GR1 HF 数据集",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2603-09956",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-989e890d97ee"
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      "evidence": "insufficient_evidence"
    },
    {
      "source_paper_id": "arxiv-2603-19709",
      "edge": "combines",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2603-19709",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2603-20147",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "Isaac Lab（23）、RSL-RL、L2C2（13）、BeyondMimic（16）、HOMIE（3）、GR00T N1.5（34 引）、ASAP（28）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2603-23481",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2504-16054"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2604-11757",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2604-05014"
      ],
      "target_text": "StarVLA modular framework (arXiv:2604.05014)",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2605-27724",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243",
        "legacy-86fef336ea61"
      ],
      "target_text": "MimicGen（40）/DexMimicGen（30）/MoMaGen（33）/WBCMimicGen（35）、GR00T N1.6（6）、AdaFlow（27）、HOMIE/HOVER/SONIC（4/26/37）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-00252",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "VR teleoperation + GR00T VLA + fixed humanoid WBC",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-04829",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
      ],
      "target_text": "HOVER（多模态命令）、TWIST2/ExBody2/OmniH2O（全身跟踪）、DeepMimic（运动模仿）、RAD（优化器）、GMR（重定向）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-08059",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "SONIC（19）/OmniXtreme（30）/Expressive WBC（2）、perceptive locomotion（39/42/34）、teacher-student（14/13）、retargeting（4/28）、ASAP（8）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-08242",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "VLA/视频骨干（OpenVLA/Cosmos 等）",
      "evidence": "recorded_in_corpus"
    },
    {
      "source_paper_id": "arxiv-2606-08278",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243",
        "legacy-86fef336ea61"
      ],
      "target_text": "MuJoCo（34）/Isaac Sim（29）、CuRobo（33）、Ψ0（37）/π0.5（15）/GR00T-N1.6（3）、AMO/SONIC（22/25）、RoboVerse/RoboTwin（14/7）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-08922",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
      ],
      "target_text": "AMP/DeepMimic motion priors",
      "evidence": "insufficient_evidence"
    },
    {
      "source_paper_id": "arxiv-2606-09215",
      "edge": "combines",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "video DiT + motion DiT + unified motion latent + three-stage curriculum + SONIC low-level controller",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-09215",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "SONIC whole-body controller (FSQ 2x32-level token)",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-13102",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "视觉通用策略（RT/OpenVLA 等）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-15768",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "Alternate-DiT（GR00T-N1.6 式交替流动作专家）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-17833",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "general motion tracking (TWIST2/SONIC) and egocentric imitation/VLA policy baselines",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-17924",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "OpenVLA-OFT（连续动作回归）、UWM（统一视频-动作扩散 WM）、Robometer（奖励模型）、Coconut/CoT2/looped transformers（潜推理）、HUME（System 2 VLA）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-18959",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-isaac-lab-multimodal-robot-learning"
      ],
      "target_text": "InfoNCE 对比学习、跨模态对齐（CLIP 式）、Narang et al. FEA 触觉转移、Isaac Lab/Warp 触觉仿真（Xu et al. penalty）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-20705",
      "edge": "inherited_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
      ],
      "target_text": "motion imitation/DeepMimic-style tracking",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-20867",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "π₀ / GR00T-N1.5（VLA 骨干）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-25591",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "GR00T-N1.5 / VLA action-flow learning",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-27813",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
      ],
      "target_text": "DeepMimic/AMP式动作先验与人形RL locomotion",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-29501",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "MoE 式视频-动作联合（Motus/GR00T 等）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-30362",
      "edge": "contradicts",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "『基础模型跟踪器足够鲁棒』——物理鲁棒来自规划层闭环（去 self-rollout 70.5→93.1%）；『开环级联可用』——TextOp+SONIC 23.5% 跌倒",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-30362",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "ScaleBFM（行为基础模型）、SONIC/TWIST2（通用跟踪）、TextOp/Kimodo/DART（运动生成）、CLoSD（闭环角色控制）、Repaint（条件 inpainting）、Mobile ALOHA（轨迹分块）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-30552",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "GR00T N1（cross-attention DiT action expert）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2606-31993",
      "edge": "contradicts",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "『仿真安全无需显式损伤建模』——GR00T 等高能力策略在任务完成下大量 unsafe",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-01067",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "VLA（OpenVLA 等基线）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-02840",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2504-16054"
      ],
      "target_text": "pi0.5 (PaliGemma 2B + 300M action expert; pi0.5-DROID init)",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-04434",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-isaac-lab-multimodal-robot-learning"
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      "target_text": "Isaac Lab/MagicSim（仿真基础）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-04837",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
      ],
      "target_text": "SONIC whole-body control 与 privileged teacher-student WBC",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-06442",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "MDL 原则、数据选择（SCIZOR/DemInf/DataMIL/Re-Mix/ATHENA）、V-JEPA2、VLA 训练（GR00T N1/Qwen3-VL）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-08182",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "OpenVLA/miniVLA/π0/CogACT（VLA）、DreamerV3/UWM（世界模型）、CASCADE/GAIA-1/Genie（潜动力学）、InfoNCE 对比学习",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-08742",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-989e890d97ee"
      ],
      "target_text": "BeyondMimic（19，keypoint 跟踪）、OmniRetarget（39）、PHC（22）、ResMimic（44，接触奖励）、HUMOTO（21）、HOI 重定向（2）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-08751",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-isaac-lab-multimodal-robot-learning",
        "oa-w4399695759"
      ],
      "target_text": "Isaac Lab/CloudXR XR 遥操作、dex-retargeting [42]、Diffusion Policy/DP3/OpenVLA/π0.5（基线）、RoboTwin/RoboCasa 等仿真基准",
      "evidence": "verified_secondary"
    },
    {
      "source_paper_id": "arxiv-2607-10172",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "OpenVLA 早期 LoRA 研究（1.4% 参数匹配 FFT）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-10180",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "EQA（EQA-v1/MP3D-EQA/OpenEQA/CityEQA）、空中 VLN/VLA（AerialVLN/UAV-Flow/OpenUAV/OpenFly）、VLA（OpenVLA/π0.5）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-10815",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
      ],
      "target_text": "AMP/DeepMimic motion priors",
      "evidence": "insufficient_evidence"
    },
    {
      "source_paper_id": "arxiv-2607-13056",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "人机协作基准（HRI 评测）、人类运动生成（HY-Motion）、GR00T N1.5/π0.5/ACT 微调",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-13653",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "低层 VLA（OpenVLA/π₀.5 执行原语）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-15275",
      "edge": "combines",
      "target_paper_ids": [
        "legacy-86fef336ea61"
      ],
      "target_text": "TTT 快权重×GR00T N1.7×register 跨时携带×tanh 门控×sequence action forcing+TBPTT×DAgger Distillation",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-15275",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "Test-Time Training（TTT）、GR00T N1.7、Gated DeltaNet（线性记忆对照）、DAgger、长上下文 LLM 缩放谱系",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-16636",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "VLA（π0/π0.5/OpenVLA）、World Models（Genie/UniPi/RoboDreamer）、Agentic systems（Voyager/Reflexion）、ROS（中间件分析）、Skill libraries/verbal reflection",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-18016",
      "edge": "inherited_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "GR00T-N1.7 whole-body VLA",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-18060",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-18840",
      "edge": "inherits_from",
      "target_paper_ids": [
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      "evidence": "verified_primary"
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    {
      "source_paper_id": "arxiv-2607-22530",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4414050525"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-22530",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2603-19201",
        "arxiv-2603-23481"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-24159",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "π₀.5/GR00T-N1.6/OpenVLA（VLA 基线）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-25516",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "VLA（π0.5/X-VLA/VLA-Adapter/OpenVLA-OFT）、测试时适配（VLA-Pilot/CAG/TAG）、因果推断（Pearl/Peters）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-25593",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "跨机器人数据复用、Open X-Embodiment、Octo/OpenVLA 的跨配置适配方向",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-26434",
      "edge": "inherits_from",
      "target_paper_ids": [
        "milestone-isaac-lab-multimodal-robot-learning"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-26657",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2606-09811"
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      "target_text": "arxiv-2606-09811",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-26657",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2606-19531"
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      "target_text": "arxiv-2606-19531",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-27205",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "LLM-centric VLA 线（OpenVLA/π₀/π₀.5）作为对比对象",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2607-27881",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-00500",
      "edge": "contradicts",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "『大规模通用策略涌现平衡』——SONIC 等 0/90 Perfect（靠步进/跳跃恢复）；『捕获点不可部署』——换参考系后可机载重建",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-00500",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "捕获点/Margin of Stability（Hof）、时间到边界（TTB）、踝-膝-髋响应层级（人体姿势控制）、FastSAC、SONIC 等通用跟踪策略",
      "evidence": "verified_secondary"
    },
    {
      "source_paper_id": "arxiv-2608-01013",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "OpenVLA/OpenVLA-OFT imitation adaptation",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-01028",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "OpenVLA（骨干）、物理对抗补丁谱系、注意力分析、EDPA-AF（对照）、教师-学生鲁棒微调",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-01410",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "ProtoMotions（NVLabs）/SONIC（Luo 25）跟踪器、FlowGRPO（Liu 25）、物理反馈生成（PhysDiff/CLoSD/RobotMDM/RLPF 等）、PARC/QuadFM/Humanoid-DART 联合训练、TMR-G1 评测",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-01824",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4414050525"
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      "target_text": "Reactive Diffusion Policy/Tactile-VLA baseline family",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-01824",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2506-15953"
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      "target_text": "arxiv-2506-15953",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-01826",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-02385",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "BeyondMimic（4）/SONIC（5）跟踪、HoST（2）/HumanUP（3）站起、KungFuAthlete（6）/BFM-Zero（7）、MoE/soft modularization（15）、asymmetric actor-critic（21）、DeepMimic（8）/AMP（9）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-03231",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "物理补丁攻击（UADA/UPA/EDPA/ADVLA/AttackVLA）、鲁棒微调（AF/PatchGuard/对抗训练）、OpenVLA/π0",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-05999",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
      ],
      "target_text": "OpenVLA（11）/VLA-OS（5，层级规划）、GRPO（6）/TGRPO（3，轨迹+步级）、SimpleVLA-RL（13）、RT-H（1，层级任务规划）、VISTA（15）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-06374",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "VLA（多模态骨干）、WAM（未来预测思想）、SANA（图像生成）、MoE/DiT（动作头）、跨本体 VLA（Octo/GR00T 系）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-06375",
      "edge": "combines",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "latent visual foresight + diffusion whole-body action generation + SONIC controller-compatible action latents + omega-HOME multimodal dataset",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-06375",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4414051084"
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      "target_text": "FAST action tokenizer",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-06375",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "SONIC whole-body controller (action latent replay and low-level execution)",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-06827",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "GaussGym/Difix3D+/GenFusion（R2S）、GRAIL egocentric sim2real、SONIC/WBC、DUSt3R/VGGT、SAM3/SAM3D/NKSR",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-07045",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2607-02840"
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      "target_text": "单目 HOI 重建（HOLD 等）、DexYCB/TACO（数据）、Do As I Do（基线）、Laplacian 形变/接触优化、残差 RL",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-07596",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "VLA-Adapter（32，单层对齐 PFB）、π0.5/GR00T N1/OpenVLA-OFT（条件化接口）、Deep Layer Aggregation（35）/sparse aggregation（38）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-07746",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
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      "target_text": "ASE（对抗技能嵌入）、DeepMimic/AMP、DreamerV3（HLC）、PlaNet（世界模型谱系）、HITR/HumanVLA/TokenHSI（基准）、OMOMO/SAMP（参考运动）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-07870",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2607-02840"
      ],
      "target_text": "Simba（状态域架构）、SAC/DrQ-v2（基座算法）、ConvNext（inverted bottleneck）、MR.Q/TD-MPC2/DrM/TACO（基线）、plasticity 分析",
      "evidence": "verified_secondary"
    },
    {
      "source_paper_id": "arxiv-2608-09381",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2604-05014"
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      "target_text": "StarVLA（条件 flow matching 动作头）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-11769",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "GR00T N1（基础策略）、GAP/State-free/ReViP（vision-proprio 不平衡）、Mimicking-Bench/OpenVLA（初始位姿评测）",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-13555",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-be0d10ca59bb"
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      "target_text": "DeepMimic/PHC/UHM reference-conditioned tracking",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-13555",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "SONIC/GMT/TWIST2/Humanoid-GPT tracking evaluators",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-15139",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "πRL Flow-SDE、π-StepNFT、AWAC、flow-matching VLA π0/π0.5/GR00T",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-15680",
      "edge": "inherits_from",
      "target_paper_ids": [
        "oa-w4399695759"
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      "target_text": "OpenVLA-OFT",
      "evidence": "insufficient_evidence"
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    {
      "source_paper_id": "arxiv-2608-16642",
      "edge": "combined_with",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "Unitree G1腿部GR00T whole-body controller",
      "evidence": "verified_primary"
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    {
      "source_paper_id": "arxiv-2608-17453",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-86fef336ea61"
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      "target_text": "GR00T/GR00T-Wide pretrained VLA",
      "evidence": "verified_primary"
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    {
      "source_paper_id": "arxiv-2608-18234",
      "edge": "inherits_from",
      "target_paper_ids": [
        "legacy-834a4cf02243"
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      "target_text": "humanoid motion tracking/WBC policies such as SONIC, HoloMotion-1, BFM-Zero and terrain/contact annotation pipelines",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-21290",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2506-15953"
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      "target_text": "arxiv-2506-15953",
      "evidence": "verified_primary"
    },
    {
      "source_paper_id": "arxiv-2608-21355",
      "edge": "inherits_from",
      "target_paper_ids": [
        "arxiv-2506-15953"
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      "target_text": "ViTacFormer 的跨模态视觉-触觉表征与下一触觉帧预测路线",
      "evidence": "verified_primary"
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    {
      "source_paper_id": "legacy-0a3ffef15dfc",
      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "BeyondMimic（22，yaw 对齐）、GMR（4）、HITTER（37）、AMP（31）、ASAP（11）、KungfuBot（45）",
      "evidence": "verified_primary"
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    {
      "source_paper_id": "legacy-0ef13ba22caf",
      "edge": "combines",
      "target_paper_ids": [
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      "target_text": "PICO 人类采集×MoGe 视图对齐×delta EE+离散命令动作对齐×GR00T VLA 共训",
      "evidence": "verified_primary"
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "GR00T-WholeBodyControl（45）、Mirage（8，视图重写）、UMI（12/80）、MoGe（58）、In-N-On（36）",
      "evidence": "verified_primary"
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "GVHMR（42）、Exbody/Exbody2（8/25）、ASAP（17）、OmniH2O（19/18）、DeepMimic（29）、BLO（56）",
      "evidence": "verified_primary"
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    {
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "GR00T N1.5（3）、HOMIE（1，Worker）、Agibot-World（4）、DexMV（21，轨迹接口）、flow matching VLA 后训练（3）",
      "evidence": "verified_primary"
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    {
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "待核验（GR00T-VisualSim2Real 仓库）",
      "evidence": "verified_secondary"
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    {
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "VideoMimic, BeyondMimic, ExBody/OmniH2O motion tracking",
      "evidence": "verified_primary"
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    {
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "ResMimic/DeepMimic-style motion tracking and AMP",
      "evidence": "verified_primary"
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    {
      "source_paper_id": "legacy-6544e613faee",
      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "视频世界模型、LAPA latent action、IDM、GR00T N1/visuomotor imitation、RoboCasa/DROID 数据扩增",
      "evidence": "verified_primary"
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    {
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "Humanoid-X（43）、SINK（25/24）、GMR（3）、MaskedMimic（58）、BeyondMimic（60）、LaFAN1/AMASS（22/42）",
      "evidence": "verified_primary"
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    {
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "SONIC/GMT 等通用运动跟踪与人类动作重定向路线",
      "evidence": "verified_primary"
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    {
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "GR00T-SONIC-N1（VLA 驱动全身 loco-manipulation）",
      "evidence": "verified_primary"
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "NVIDIA GR00T N1.5/N1.6 decoupled WBC 系列与 GEAR-SONIC 迭代",
      "evidence": "verified_primary"
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "SONIC v1.1 checkpoint（2026-07-23：heading-normalized + wrist-pose augmentation，3 点遥操作）",
      "evidence": "verified_primary"
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      "source_paper_id": "legacy-834a4cf02243",
      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "Isaac Lab（训练/评测基础设施）",
      "evidence": "verified_primary"
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "GR00T N1.7 GA（Cosmos-Reason2-2B / Qwen3-VL 新 VLM 骨干）",
      "evidence": "verified_primary"
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      "edge": "adopted_by",
      "target_paper_ids": [
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      "target_text": "NVIDIA Isaac GR00T N1.5/N1.6（decoupled WBC：RL 下半身 + IK 上半身）",
      "evidence": "verified_primary"
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      "edge": "combines",
      "target_paper_ids": [
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      "target_text": "4D 重建×G1 尺度重定标×DeepMimic 跟踪×MoCap 预训练×DAgger 蒸馏×高度图条件",
      "evidence": "verified_primary"
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      "edge": "inherits_from",
      "target_paper_ids": [
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      "target_text": "DeepMimic（1）、SLAHMR（32）、ViTPose（48）、LAFAN（57）、Tessler 2024（负载均衡）、He et al.（7）",
      "evidence": "verified_primary"
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