Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
Visual world models have shown great potential in learning complex system dynamics. Recent advancements leverage these models as transition functions within Model Predictive Control (MPC) frameworks to solve various control tasks. When applied to robotics, however, they are limited to single-stage tasks such as reaching or grasping, and struggle with multi-stage ones that demand complex sequential planning. In this work, we introduce WorldDP, a world model framework designed for multi-stage robotic manipulation. Our hierarchical approach utilizes a high-level world model as a transition function to optimize for feasible subgoals during runtime, which are subsequently reached by a low-leve...
| Authors | Raktim Gautam Goswami, Prashanth Krishnamurthy, Yann LeCun et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 June 2026 |
| Last updated at source | 7 October 2026 |
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