Robot imagines the corridor before takeoff: video diffusion supplies virtual views, RRT finds its own path in the reconstructed obstacle map
From one RGB image and a task prompt, a video diffusion model generates virtual camera views that ORB-SLAM3 and aligned dense depth turn into a plannable 3D space; planning-feasible scenes rise from 13/19 at P20 to 15/19 at P81 across a 19-scene study.