Flow Policies as Actions of Skill-Level World Models: Learned and Symbolic Abstractions for Long-Horizon Planning

arXiv:2610.04767 · cs.RO, cs.LG · Submitted 2026-10-03 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-10-03

Updated: 2026-10-03

Comments: 9 pages, 7 figures, 1 table. Submitted to IEEE ICRA 2027. Project page: https://andreumatoses.github.io/research/flow-skill-wm

Project page: https://andreumatoses.github.io/research/flow-skill-wm

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Abstraction — 1× in this paper · explained in 1 episode
• World Model — 1× in this paper · explained in 7 episodes

Sources

• V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
• Hierarchical Planning with Latent World Models
• LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixels
• LeJEPA: Provable and Scalable Self-Supervised Learning Without the Heuristics
• stable-worldmodel: A Platform for Reproducible World Modeling Research and Evaluation

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