This looks like a great summary, thank you. My reading of [2] is that the model only needs to be retrained if the environmental boundary changes. For example,

This looks like a great summary, thank you. My reading of [2] is that the model only needs to be retrained if the environmental boundary changes. For example, to handle objects that do not fit within the current boundary. Since I imagine scale matters here, and you couldn't simply make everything inside smaller. Internal geometry such as replacing the castle with a car does not appear to require retraining.