Article

ID-WM: A Hierarchical World Model Decoupling State Reachability from Local Control

The authors propose ID-WM (Implicit Dynamics World Models), a hierarchical world model in which a high-level model samples feasible transitions on the state manifold and a low-level world model acts as an inverse dynamics solver to ground those transitions into precise actions. On three navigation and manipulation test suites, it improves over existing policies and diffusion planners by 38.5%, and by 135% over single-layer world model MPC in complex unseen long-horizon configurations.

Part of the event: Paper on ID-WM Hierarchical World Model Released

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