Hierarchical World Models with Implicit Dynamics
Overview
This research introduces ID-WM (Implicit Dynamics World Models), a hierarchical framework that separates high-level state-space reachability sampling from low-level inverse dynamics solving. By prioritizing local physical feasibility, the method synthesizes novel long-horizon plans from short segments, achieving a 38.5% improvement over state-of-the-art policy and diffusion-based planners and a 135% gain over single-level world model MPC in complex, unseen configurations for navigation and manipulation tasks.
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- arXiv Robotics — research abstractsSignalHierarchical World Models with Implicit Dynamics
This research introduces ID-WM (Implicit Dynamics World Models), a hierarchical framework that separates high-level state-space reachability sampling from low-level inverse dynamics solving. By prioritizing local physical feasibility, the method synthesizes novel long-horizon plans from short segments, achieving a 38.5% improvement over state-of-the-art policy and diffusion-based planners and a 135% gain over single-level world model MPC in complex, unseen configurations for navigation and manipulation tasks.
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