WorldDP combines a high-level object-centric world model for subgoal planning with a low-level diffusion policy for execution, claiming better performance than baselines on multi-stage robotic manipulation benchmarks.
Dynamics learning with cascaded variational inference for multi-step manipulation
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Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
WorldDP combines a high-level object-centric world model for subgoal planning with a low-level diffusion policy for execution, claiming better performance than baselines on multi-stage robotic manipulation benchmarks.