Mind the Gap: Promises and Pitfalls of Hierarchical Planning in LeWorldModel
We investigate whether temporal hierarchy can improve LeWorldModel on long-horizon goal-conditioned control. We introduce Hi-LeWM, an extension that freezes the pretrained low-level LeWM and adds high-level planning over latent subgoals. We evaluate Hi-LeWM on PushT and Cube across increasing goal offsets. Hierarchy does not automatically improve performance: at short horizons, the best configuration uses a one-step high-level horizon, while longer horizons reveal a mismatch between the learned high-level action space and the inference-time search distribution. Experiments with true future latent subgoals show that the frozen low-level controller can execute well-aligned intermediate targ...
| Authors | Niccolò Caselli, Francesco Massafra, Samuele Punzo et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 July 2026 |
| Last updated at source | 15 July 2026 |
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