I got an example where paths for plain rel require param_info i.e. plain rel scans require to take care of the lateral references. Here's the example from PG regression
explain verbose select v.* from
(int8_tbl x left join (select q1,(select coalesce(q2,0)) q2 from int8_tbl) y on x.q2 = y.q1)
left join int4_tbl z on z.f1 = x.q2,
lateral (select x.q1,y.q1 from dual union all select x.q2,y.q2 from dual) v(vx,vy);
There is note in create_scan_plan(), which says,
324 * If it's a parameterized otherrel, there might be lateral references
325 * in the tlist, which need to be replaced with Params. This cannot
326 * happen for regular baserels, though. Note use_physical_tlist()
327 * always fails for otherrels, so we don't need to check this above.
328 */
Although it doesn't say why this can not happen for regular baserels.