3D-Anchored Lookahead Planning for Persistent Robotic Scene Memory via World-Model-Based MCTS

arXiv:2604.11302v1 Announce Type: cross Abstract: We present 3D-Anchored Lookahead Planning (3D-ALP), a System 2 reasoning engine for robotic manipulation that combines Monte Carlo Tree Search (MCTS) with a 3D-consistent world model as the rollout oracle. Unlike reactive policies that evaluate actions from the current camera frame only, 3D-ALP maintains a persistent camera-to-world (c2w) anchor that survives occlusion, enabling accurate replanning to object positions that are no longer directly