From Kinematics to Dynamics: Learning to Refine Hybrid Plans for Physically Feasible Execution

arXiv:2604.12474v1 Announce Type: cross Abstract: In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically feasible continuous trajectory. The resulting trajectory and action sequence must also satisfy problem constraints such as deadlines, time windows, and velocity or acceleration limits. While hybrid temporal planners attempt to address this challenge,