{"paper":{"title":"Learning Unions of Convex Sets via Invertible Latent Decomposition for Path Planning","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Dongho Kang, Junha Cha, Kisang Park, Stelian Coros, Sungjoon Choi, Taerim Yoon","submitted_at":"2026-06-10T12:49:47Z","abstract_excerpt":"Collision-free path planning in cluttered, real-world environments relies on a representation of the collision-free space, and existing representations broadly fall into two\n  categories. Explicit representations, such as unions of convex sets, can be plugged into optimization-based planners as hard collision-free constraints, but their parameters scale\n  poorly with configuration-space dimension. Implicit representations, by contrast, are flexible and scale well to complex geometries, yet typically lack such guarantees. We bridge this\n  gap with ILD (Invertible Latent Decomposition), a framew"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.12027","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2606.12027/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}