arxivcs.RO2026-07-01
Path Planning in Physically Viable World Models
Su Ann Low, Cheng-Hsi Hsiao, Xingjian Li, Adam J. Thorpe, Ufuk Topcu, Krishna Kumar
Robots deployed in unstructured outdoor environments often plan from scene reconstructions collected before deployment because operators cannot remap large or remote sites before every mission. As a result, robots must make long-horizon planning decisions using stale maps that as…