Hierarchical World Models with Implicit Dynamics
This work introduces ID-WM (Implicit Dynamics World Models), a hierarchical world model that decouples state-space reachability from local control and yields a 135% performance gain over single-level world model MPC, particularly in complex, unseen configurations for long-horizon tasks.
Gao-Yue Zhou, Yvonne Wu, Zichen Jeff Cui et al.
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