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goal-conditioned control 1hierarchical planning 1latent world models 1long-horizon tasks 1subgoal generation 1

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cs.RO2026

Mind the Gap: Promises and Pitfalls of Hierarchical Planning in LeWorldModel

Niccolò Caselli, Francesco Massafra, Samuele Punzo +3

The paper examines adding a high‑level planner to a frozen latent world model (LeWorldModel) for long‑horizon goal‑conditioned control, showing that hierarchical planning can impro…