Hierarchical latent world models with macro-actions solve long-horizon visual planning (70% Franka pick-and-place vs 0% flat planning) with up to 3× less compute.
Learning latent dynamics for planning from pixels
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Hierarchical Planning with Latent World Models
Hierarchical latent world models with macro-actions solve long-horizon visual planning (70% Franka pick-and-place vs 0% flat planning) with up to 3× less compute.