# Metro-WM: Long-horizon latent planning with realizable sub-goals

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/z13aheux6fxdve8erkvpdmehb
- Original: https://arxiv.org/abs/2609.31868

## Summary

Metro-WM proposes a hierarchical planning framework that, instead of generating unconstrained latent sub-goals, retrieves real states from observed frames in offline expert demonstrations or random-action trajectories as sub-goals, and connects frames from different episodes into paths toward the goal. Experiments show its long-horizon success rate is up to 37.33 percentage points higher than the next-best hierarchical method, up to 10.9 times faster, uses 13-56 times less offline computation, and requires less tuning. The authors also note that leading macro planners frequently output physically unrealizable sub-goals.