Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
WorldDP is a hierarchical framework that combines object-centric world models with diffusion policies to tackle complex, multi-stage robotic manipulation. It uses a high-level world model to plan subgoals and a low-level diffusion policy to execute them. This unification allows the system to handle long-horizon tasks by grounding planning in object representations and using robust execution policies.