PILOT: Guiding Long-Horizon World-Model Planning for Robot Manipulation with Visual Subgoals and Policy Priors
cs.RO
Submitted: 2026-10-09
Updated: 2026-10-09
Project page: https://pilot-planner.github.io
Sources
- World Models
- Wan: Open and Advanced Large-Scale Video Generative Models
- $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
- DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning
- DINOv2: Learning Robust Visual Features without Supervision
- V-JEPA 2: Self-Supervised Video Models Enable Understanding, Prediction and Planning
- LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixels
- Hierarchical Planning with Latent World Models
- Model Predictive Path Integral Control using Covariance Variable Importance Sampling
- WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models
- Policy-Guided World Model Planning for Language-Conditioned Visual Navigation
- What Drives Success in Physical Planning with Joint-Embedding Predictive World Models?
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- HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
- APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies