Real-time robotic systems require advanced perception and action capability. However, the main bottleneck in current autonomous systems is the trade-off between computational capability, energy efficiency, and model determinism. World modeling, a key objective of many robotic systems, commonly uses occupancy grid mapping (OGM) as the first step towards building an end-to-end robotic system. OGM discretizes the environment into cells and assigns probability values to attributes such as occupancy.