@article{taskawareenvironmentaugmentationforrelia,
  title = {Task-Aware Environment Augmentation for Reliable Navigation via Shielded Conditional Diffusion},
  author = {Bharawee Phoompho and Gokul Puthumanaillam and Yan Miao and Ruben Hernandez and Tim Bretl and Sayan Mitra and Melkior Ornik},
  year = {2026},
  eprint = {2606.15154},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.15154},
}