A physically viable world model augments 3D Gaussian splats with physics simulation to assess robot route feasibility under simulated terrain changes like flooding, revealing failures not visible in static maps.
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2026 2verdicts
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A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.
citing papers explorer
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Path Planning in Physically Viable World Models
A physically viable world model augments 3D Gaussian splats with physics simulation to assess robot route feasibility under simulated terrain changes like flooding, revealing failures not visible in static maps.
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Discrete Geometric Modeling and Extended State Estimation of Continuum Robots
A fully discrete strain-based model for continuum robot dynamics via Lie group variational integrators, combined with an EKF-based observer for states and disturbances, validated on hardware.