@article{pripgrlprivilegedplannerguidedreinforcem,
  title = {PriPG-RL: Privileged Planner-Guided Reinforcement Learning for Partially Observable Systems with Anytime-Feasible MPC},
  author = {Mohsen Amiri and Mohsen Amiri and Ali Beikmohammadi and Sindri Magnuśson and Mehdi Hosseinzadeh},
  year = {2026},
  eprint = {2604.08036},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.08036},
}