Author

R. Khorrambakht

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Preprint Sep 2026

CollisionSplatting: Collision-Aware Motion Planning in 3DGS Scenes with Image-Conditioned Objectives and Adjustable Conservatism

Incorporating dense visual information into motion planning remains challenging, as geometric planners rely on abstracted scene representations that discard visual richness, while learned visual models often lack geometric interpretability and computational efficiency. This paper introduces CollisionSplatting, a simple...

R. Khorrambakht, Joaquim Ortiz-Haro, Stephan Weiss et al. · 0 citations

#artificial intelligence Preprint Oct 2026

FLEX-WAM: Flexible Block-Causal World-Action Models for Long-Horizon Imagination and Planning

World--action models (WAMs) promise a unified model that predicts action-conditioned futures, generates feasible actions, and supports planning in imagination. However, existing joint video--action models often use computationally heavy, fixed-horizon backbones ill-suited to streaming inference and stable long-horizon...

R. Khorrambakht, Joseph Amigo, Félix Lebel et al. · 0 citations