@article{clearasemanticgeometricterrainabstractio,
  title = {CLEAR: A Semantic-Geometric Terrain Abstraction for Large-Scale Unstructured Environments},
  author = {Pranay Meshram and Charuvahan Adhivarahan and Ehsan Tarkesh Esfahani and Souma Chowdhury and Chen Wang and Karthik Dantu},
  year = {2026},
  eprint = {2601.13361},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.13361},
}