H-WM: Robotic Task and Motion Planning Guided by Hierarchical World Model
The Hierarchical World Model (H-WM) framework guides Vision-Language-Action (VLA) robots in long, complex tasks by combining high-level symbolic reasoning with low-level visual perception. It predicts both logical state transitions and visual subgoals simultaneously. This integration prevents error accumulation during extended planning, leading to significantly more reliable and robust robotic execution.